Add annotations from LeRobot Annotate

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10a9d6d90abb42d4e95cd609e27857b6597ac8e3fbeec04d0f3738f14da2270e
+size 355073

data/chunk-000/file-001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed21d5eb4179dbab053b2326dbbf99b0305e6d3c9be1a7911aab1eb18e284b15
+size 510438

data/chunk-000/file-002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a66fe64944c73cc04b5e3a67652f42d88d0b8c999ffa3efadbad95f112b8fb
+size 517913

data/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fc45412986868e9ecf0b6bfdc047c3454fcd9eda3b399fd57f2294959d396d
+size 493945

data/chunk-000/file-004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a199aba1309dfc329c884c3969808d7b6a41d7fc4d9d5e47c0652d22756a7571
+size 512620

data/chunk-000/file-005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f5df43d80149e9d09ad79887ad55da5c9e93bd24c60fe44c93b63e50d61c5c
+size 485682

data/chunk-000/file-006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92a649fcf589826327e8a7018515adeb3028c19f7374e01cf1e9ef1e5f51a94
+size 455734

data/chunk-000/file-007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5efd7a80bff4ce92153826f97357f1330df72e7d7e9480dd4d75e8028aa6f6b2
+size 370344

meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:307975bd7693e816613e0a5fe11e4b701c40413c33bb5287b80ee8e8d6425771
+size 87562

meta/episodes/chunk-000/file-001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494b0a29d85a2d7527dc55550cb4c942dead3e6b03865b7f01f198bd5e3c376c
+size 132027

meta/episodes/chunk-000/file-002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd1978acdad16f7b839345b12b479a1772d38e8725483e3f23f0de0baba01f5
+size 132243

meta/episodes/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026b559c32a343390346be482e5ac7fdc677d68975a992614b58aa38b23ef242
+size 131849

meta/episodes/chunk-000/file-004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5aef82c8f5a3f4303cba3708937309c4eced066665aeb5169b8e7a8eb236add
+size 131888

meta/episodes/chunk-000/file-005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703ce8572ee83abd3bc52a8359006ca14e6b2298ab2b9a5a8b6e708d51799ab7
+size 131852

meta/episodes/chunk-000/file-006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac67ef67a6d2a7c7db1614eb43542352e998e2b0fa9d9f166e9528ce7d6db2c4
+size 131812

meta/episodes/chunk-000/file-007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e78b703de85691cb9d60217b40bdeea74450bf99cab0c6841874cbeb8a1ade1a
+size 87566

meta/info.json

@@ -0,0 +1,180 @@
+{
+  "codebase_version": "v3.0",
+  "fps": 30,
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "names": [
+        "left_joint_0.pos",
+        "left_joint_1.pos",
+        "left_joint_2.pos",
+        "left_joint_3.pos",
+        "left_joint_4.pos",
+        "left_joint_5.pos",
+        "left_gripper.pos",
+        "right_joint_0.pos",
+        "right_joint_1.pos",
+        "right_joint_2.pos",
+        "right_joint_3.pos",
+        "right_joint_4.pos",
+        "right_joint_5.pos",
+        "right_gripper.pos"
+      ],
+      "shape": [
+        14
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "names": [
+        "left_joint_0.pos",
+        "left_joint_1.pos",
+        "left_joint_2.pos",
+        "left_joint_3.pos",
+        "left_joint_4.pos",
+        "left_joint_5.pos",
+        "left_gripper.pos",
+        "right_joint_0.pos",
+        "right_joint_1.pos",
+        "right_joint_2.pos",
+        "right_joint_3.pos",
+        "right_joint_4.pos",
+        "right_joint_5.pos",
+        "right_gripper.pos"
+      ],
+      "shape": [
+        14
+      ]
+    },
+    "observation.images.left": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "hevc",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.right": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "hevc",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.top": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "hevc",
+        "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
+    },
+    "subtask_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index_high_level": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  },
+  "total_episodes": 110,
+  "total_frames": 53576,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "robot_type": "bi_yam_follower",
+  "splits": {
+    "train": "0:110"
+  }
+}

meta/lerobot_annotations.json

@@ -0,0 +1,2755 @@
+{
+  "version": 1,
+  "episodes": {
+    "0": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.562,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.562,
+          "end": 12.792,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.792,
+          "end": 17.069,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.069,
+          "end": 21.634,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "6": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.227,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.227,
+          "end": 8.729,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.729,
+          "end": 10.217,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.217,
+          "end": 14.334,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "1": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.296,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.296,
+          "end": 11.232,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.232,
+          "end": 13.05,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.05,
+          "end": 16.967,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "2": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.235,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.235,
+          "end": 10.812,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.812,
+          "end": 12.497,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.497,
+          "end": 17.134,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "3": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.05,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.05,
+          "end": 9.722,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.722,
+          "end": 12.175,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.175,
+          "end": 16.567,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "4": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.5,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.5,
+          "end": 9.866,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.866,
+          "end": 13.67,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.67,
+          "end": 17.134,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "5": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.431,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.431,
+          "end": 10.218,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.218,
+          "end": 12.725,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.725,
+          "end": 16.934,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "18": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.265,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.265,
+          "end": 9.321,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.321,
+          "end": 13.229,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.229,
+          "end": 16.767,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "7": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.842,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.842,
+          "end": 8.101,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.101,
+          "end": 10.503,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.503,
+          "end": 14.4,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "8": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.003,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.003,
+          "end": 8.096,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.096,
+          "end": 10.995,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.995,
+          "end": 14.034,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "9": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.818,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.818,
+          "end": 9.581,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.581,
+          "end": 12.379,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.379,
+          "end": 15.734,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "10": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 9.1,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 9.1,
+          "end": 12.738,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.738,
+          "end": 17.335,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.335,
+          "end": 22.867,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "11": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.324,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.324,
+          "end": 10.554,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.554,
+          "end": 13.631,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.631,
+          "end": 17.3,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "12": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.593,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.593,
+          "end": 10.944,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.944,
+          "end": 13.524,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.524,
+          "end": 17.434,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "13": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.793,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.793,
+          "end": 10.57,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.57,
+          "end": 13.68,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.68,
+          "end": 18.9,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "14": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.288,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.288,
+          "end": 8.936,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.936,
+          "end": 12.224,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.224,
+          "end": 16.534,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "15": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.311,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.311,
+          "end": 9.79,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.79,
+          "end": 13.273,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.273,
+          "end": 17.134,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "16": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.205,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.205,
+          "end": 10.787,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.787,
+          "end": 13.441,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.441,
+          "end": 16.8,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "17": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.876,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.876,
+          "end": 11.801,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.801,
+          "end": 15.288,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.288,
+          "end": 18.9,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "19": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.444,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.444,
+          "end": 10.248,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.248,
+          "end": 13.986,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.986,
+          "end": 17.267,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "20": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.801,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.801,
+          "end": 9.103,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.103,
+          "end": 11.314,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.314,
+          "end": 14.3,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "21": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.057,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.057,
+          "end": 10.256,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.256,
+          "end": 13.81,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.81,
+          "end": 16.934,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "22": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.692,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.692,
+          "end": 9.041,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.041,
+          "end": 12.5,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.5,
+          "end": 14.767,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "23": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.457,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.457,
+          "end": 9.621,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.621,
+          "end": 13.199,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.199,
+          "end": 15.8,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "24": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.031,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.031,
+          "end": 7.387,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.387,
+          "end": 10.099,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.099,
+          "end": 12.4,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "25": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.718,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.718,
+          "end": 12.891,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.891,
+          "end": 16.992,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 16.992,
+          "end": 21.967,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "31": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.73,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.73,
+          "end": 10.039,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.039,
+          "end": 13.167,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.167,
+          "end": 16.367,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "26": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 9.457,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 9.457,
+          "end": 14.283,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 14.283,
+          "end": 17.733,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.733,
+          "end": 22.634,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "27": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.521,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.521,
+          "end": 11.843,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.843,
+          "end": 15.565,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.565,
+          "end": 19.034,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "28": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.157,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.157,
+          "end": 11.484,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.484,
+          "end": 15.381,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.381,
+          "end": 19.067,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "29": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.704,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.704,
+          "end": 11.183,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.183,
+          "end": 15.637,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.637,
+          "end": 19.2,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "30": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.176,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.176,
+          "end": 10.64,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.64,
+          "end": 14.608,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.608,
+          "end": 18.234,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "32": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.822,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.822,
+          "end": 10.421,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.421,
+          "end": 14.117,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.117,
+          "end": 17.334,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "33": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.669,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.669,
+          "end": 10.063,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.063,
+          "end": 13.923,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.923,
+          "end": 16.8,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "34": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.938,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.938,
+          "end": 11.656,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.656,
+          "end": 15.976,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.976,
+          "end": 18.8,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "35": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.64,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.64,
+          "end": 9.949,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.949,
+          "end": 13.523,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.523,
+          "end": 15.934,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "36": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.673,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.673,
+          "end": 9.508,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.508,
+          "end": 11.884,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.884,
+          "end": 14.834,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "37": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.231,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.231,
+          "end": 8.569,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.569,
+          "end": 11.125,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.125,
+          "end": 14.2,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "38": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.326,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.326,
+          "end": 8.47,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.47,
+          "end": 11.272,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.272,
+          "end": 14.167,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "39": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 4.975,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 4.975,
+          "end": 8.112,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.112,
+          "end": 9.761,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 9.761,
+          "end": 12.034,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "40": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.562,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.562,
+          "end": 12.516,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.516,
+          "end": 17.419,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.419,
+          "end": 20.934,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "41": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.645,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.645,
+          "end": 12.316,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.316,
+          "end": 15.533,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.533,
+          "end": 18.667,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "42": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.399,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.399,
+          "end": 12.37,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.37,
+          "end": 15.93,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.93,
+          "end": 19.534,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "43": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.428,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.428,
+          "end": 10.541,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.541,
+          "end": 14.562,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.562,
+          "end": 17.5,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "44": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.277,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.277,
+          "end": 11.082,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.082,
+          "end": 13.781,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.781,
+          "end": 16.967,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "45": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.589,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.589,
+          "end": 10.228,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.228,
+          "end": 12.908,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.908,
+          "end": 16.067,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "46": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.305,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.305,
+          "end": 10.086,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.086,
+          "end": 13.192,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.192,
+          "end": 16.067,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "47": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.325,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.325,
+          "end": 9.469,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.469,
+          "end": 12.427,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.427,
+          "end": 15.3,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "48": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.978,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.978,
+          "end": 10.141,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.141,
+          "end": 12.423,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.423,
+          "end": 15.767,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "49": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.651,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.651,
+          "end": 8.562,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.562,
+          "end": 11.425,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.425,
+          "end": 14.4,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "50": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.915,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.915,
+          "end": 9.973,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.973,
+          "end": 13.172,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.172,
+          "end": 16.0,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "51": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.922,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.922,
+          "end": 8.187,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.187,
+          "end": 10.663,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.663,
+          "end": 13.667,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "52": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.221,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.221,
+          "end": 9.145,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.145,
+          "end": 11.479,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.479,
+          "end": 14.467,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "53": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.711,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.711,
+          "end": 8.556,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.556,
+          "end": 11.526,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.526,
+          "end": 14.0,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "54": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.269,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.269,
+          "end": 9.022,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.022,
+          "end": 11.045,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.045,
+          "end": 13.767,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "55": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 9.347,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 9.347,
+          "end": 13.647,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 13.647,
+          "end": 19.456,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 19.456,
+          "end": 23.167,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "56": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 9.03,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 9.03,
+          "end": 12.973,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.973,
+          "end": 17.312,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.312,
+          "end": 21.0,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "57": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.912,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.912,
+          "end": 14.736,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 14.736,
+          "end": 17.623,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.623,
+          "end": 21.967,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "58": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.826,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.826,
+          "end": 11.99,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.99,
+          "end": 15.752,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.752,
+          "end": 19.134,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "59": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.188,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.188,
+          "end": 11.78,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.78,
+          "end": 14.914,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.914,
+          "end": 18.067,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "60": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.863,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.863,
+          "end": 10.922,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.922,
+          "end": 14.461,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.461,
+          "end": 18.1,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "61": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.242,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.242,
+          "end": 9.973,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.973,
+          "end": 12.57,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.57,
+          "end": 15.167,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "62": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.503,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.503,
+          "end": 9.497,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.497,
+          "end": 12.032,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.032,
+          "end": 15.4,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "63": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.588,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.588,
+          "end": 10.195,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.195,
+          "end": 13.468,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.468,
+          "end": 16.834,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "64": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.66,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.66,
+          "end": 9.379,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.379,
+          "end": 12.498,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.498,
+          "end": 15.1,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "65": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.743,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.743,
+          "end": 9.279,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.279,
+          "end": 12.148,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.148,
+          "end": 15.1,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "66": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.617,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.617,
+          "end": 8.982,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.982,
+          "end": 11.561,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.561,
+          "end": 14.234,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "67": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.049,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.049,
+          "end": 9.088,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.088,
+          "end": 12.177,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.177,
+          "end": 15.034,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "68": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.575,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.575,
+          "end": 7.899,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.899,
+          "end": 10.815,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.815,
+          "end": 13.067,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "69": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.168,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.168,
+          "end": 7.736,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.736,
+          "end": 10.058,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.058,
+          "end": 12.434,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "70": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 9.074,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 9.074,
+          "end": 13.4,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 13.4,
+          "end": 17.336,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 17.336,
+          "end": 20.834,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "71": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 9.17,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 9.17,
+          "end": 12.478,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.478,
+          "end": 16.278,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 16.278,
+          "end": 20.234,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "72": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.703,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.703,
+          "end": 10.549,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.549,
+          "end": 14.337,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.337,
+          "end": 18.534,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "73": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.22,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.22,
+          "end": 12.05,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.05,
+          "end": 15.18,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.18,
+          "end": 18.767,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "74": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.947,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.947,
+          "end": 9.985,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.985,
+          "end": 13.221,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.221,
+          "end": 16.367,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "75": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.343,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.343,
+          "end": 10.113,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.113,
+          "end": 12.565,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.565,
+          "end": 15.1,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "76": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.5,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.5,
+          "end": 11.628,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.628,
+          "end": 15.018,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.018,
+          "end": 18.267,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "77": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.518,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.518,
+          "end": 9.712,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.712,
+          "end": 12.96,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.96,
+          "end": 16.334,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "78": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.756,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.756,
+          "end": 9.94,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.94,
+          "end": 12.168,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.168,
+          "end": 15.167,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "79": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.448,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.448,
+          "end": 9.139,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.139,
+          "end": 11.733,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.733,
+          "end": 14.767,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "80": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.533,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.533,
+          "end": 7.819,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.819,
+          "end": 10.091,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.091,
+          "end": 12.934,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "81": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.304,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.304,
+          "end": 7.804,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.804,
+          "end": 9.949,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 9.949,
+          "end": 12.367,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "82": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 4.765,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 4.765,
+          "end": 6.931,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 6.931,
+          "end": 9.402,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 9.402,
+          "end": 12.567,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "83": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.675,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.675,
+          "end": 8.076,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.076,
+          "end": 10.727,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.727,
+          "end": 13.334,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "84": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 4.708,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 4.708,
+          "end": 7.172,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.172,
+          "end": 10.136,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.136,
+          "end": 12.6,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "85": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.704,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.704,
+          "end": 9.415,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.415,
+          "end": 12.301,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.301,
+          "end": 15.834,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "86": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.372,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.372,
+          "end": 10.133,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.133,
+          "end": 13.198,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.198,
+          "end": 17.234,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "87": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.697,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.697,
+          "end": 10.942,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.942,
+          "end": 14.749,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.749,
+          "end": 18.134,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "88": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.98,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.98,
+          "end": 9.89,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.89,
+          "end": 12.887,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.887,
+          "end": 15.867,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "89": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.062,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.062,
+          "end": 9.504,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.504,
+          "end": 12.559,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.559,
+          "end": 15.034,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "90": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.199,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.199,
+          "end": 8.903,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.903,
+          "end": 11.107,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.107,
+          "end": 14.567,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "91": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.345,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.345,
+          "end": 8.36,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.36,
+          "end": 11.538,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.538,
+          "end": 14.034,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "92": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.437,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.437,
+          "end": 9.641,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.641,
+          "end": 12.409,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.409,
+          "end": 15.467,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "93": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.632,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.632,
+          "end": 9.035,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.035,
+          "end": 12.664,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.664,
+          "end": 15.0,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "94": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.59,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.59,
+          "end": 8.892,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.892,
+          "end": 11.304,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.304,
+          "end": 14.367,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "95": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.4,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.4,
+          "end": 8.149,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.149,
+          "end": 10.651,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.651,
+          "end": 13.167,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "96": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 4.99,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 4.99,
+          "end": 7.49,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.49,
+          "end": 9.815,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 9.815,
+          "end": 12.234,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "97": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 4.602,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 4.602,
+          "end": 6.52,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 6.52,
+          "end": 8.769,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 8.769,
+          "end": 11.5,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "98": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.044,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.044,
+          "end": 7.578,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.578,
+          "end": 10.374,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 10.374,
+          "end": 12.467,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "99": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.151,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.151,
+          "end": 7.186,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 7.186,
+          "end": 9.596,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 9.596,
+          "end": 11.367,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "100": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.762,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.762,
+          "end": 12.227,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.227,
+          "end": 16.691,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 16.691,
+          "end": 20.834,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "101": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.32,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.32,
+          "end": 12.237,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.237,
+          "end": 16.543,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 16.543,
+          "end": 20.734,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "102": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.827,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.827,
+          "end": 12.162,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.162,
+          "end": 15.454,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 15.454,
+          "end": 20.267,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "103": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.627,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.627,
+          "end": 10.096,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 10.096,
+          "end": 13.084,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 13.084,
+          "end": 16.7,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "104": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 7.116,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 7.116,
+          "end": 11.143,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 11.143,
+          "end": 14.288,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.288,
+          "end": 18.134,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "105": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 8.326,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 8.326,
+          "end": 12.195,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 12.195,
+          "end": 14.411,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 14.411,
+          "end": 17.6,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "106": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.407,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.407,
+          "end": 9.238,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.238,
+          "end": 12.102,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.102,
+          "end": 14.9,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "107": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 5.885,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 5.885,
+          "end": 8.695,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.695,
+          "end": 11.044,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.044,
+          "end": 13.9,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "108": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.654,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.654,
+          "end": 9.23,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 9.23,
+          "end": 11.792,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 11.792,
+          "end": 13.967,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    },
+    "109": {
+      "subtasks": [
+        {
+          "start": 0.0,
+          "end": 6.191,
+          "label": "Open the drawer and pick up the blue test tube rack"
+        },
+        {
+          "start": 6.191,
+          "end": 8.814,
+          "label": "Place the blue test tube rack in the drawer"
+        },
+        {
+          "start": 8.814,
+          "end": 12.162,
+          "label": "Close the drawer"
+        },
+        {
+          "start": 12.162,
+          "end": 14.934,
+          "label": "Retract the arm"
+        }
+      ],
+      "high_levels": []
+    }
+  }
+}

meta/stats.json

@@ -0,0 +1,934 @@
+{
+    "action": {
+        "min": [
+            -1.0870145559310913,
+            -0.006294346414506435,
+            0.0009536888683214784,
+            -0.4365987777709961,
+            -1.1614023447036743,
+            -0.2927824854850769,
+            0.0,
+            -0.25425344705581665,
+            0.000572213320992887,
+            0.002861066721379757,
+            -1.5222781896591187,
+            -0.6658655405044556,
+            -2.0963988304138184,
+            0.5880165696144104
+        ],
+        "max": [
+            0.1348516047000885,
+            2.4275195598602295,
+            1.437972068786621,
+            1.6584649085998535,
+            0.33321890234947205,
+            0.4240100681781769,
+            0.9912344217300415,
+            0.45719844102859497,
+            2.3531320095062256,
+            2.512207269668579,
+            0.12989242374897003,
+            0.2943083941936493,
+            0.2817196846008301,
+            1.0
+        ],
+        "mean": [
+            -0.6359547513039393,
+            1.5546703555832442,
+            0.6993929703092869,
+            0.9385633057650032,
+            -0.6001098008187506,
+            -0.04211591991456565,
+            0.41931857371487796,
+            0.03366371587726399,
+            1.0594694638173936,
+            0.9764801319657964,
+            -0.6135644246016807,
+            -0.10096419802706255,
+            -0.7974220770311763,
+            0.9151163540743831
+        ],
+        "std": [
+            0.33897008828797964,
+            0.8046174571201818,
+            0.4409830500175444,
+            0.46664920272313765,
+            0.35001694077767953,
+            0.053244125205769446,
+            0.44293333728605333,
+            0.13333274017312888,
+            0.8891165002636747,
+            0.8341811872190045,
+            0.47699742771742154,
+            0.19641401111027423,
+            0.7244375772371116,
+            0.11134585505366364
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            -0.9822310051018193,
+            0.001492845374393815,
+            0.007484854103529895,
+            -0.01015251288452213,
+            -0.9594800633073869,
+            -0.10643499971554193,
+            0.012485480513498967,
+            -0.1464667592097414,
+            0.00319951344643307,
+            0.014127841327242926,
+            -1.2473068990246845,
+            -0.4787022869998841,
+            -1.7499062944188246,
+            0.7258494659689432
+        ],
+        "q10": [
+            -0.9814009530280033,
+            0.02046987794889377,
+            0.008667032605847934,
+            0.019545765295353547,
+            -0.9564490968499225,
+            -0.07665188290073337,
+            0.014291504323643699,
+            -0.09431067069930024,
+            0.006428903010315808,
+            0.0215704364414816,
+            -1.1679477116971406,
+            -0.39500742240263215,
+            -1.7058966945329481,
+            0.7349298339812578
+        ],
+        "q50": [
+            -0.699108993722635,
+            1.9033680635445727,
+            0.6904456004690158,
+            1.1220871784201483,
+            -0.6659398091808126,
+            -0.053004830844557635,
+            0.15935335028428274,
+            -0.006369105118932379,
+            1.3648738156542657,
+            1.3004031968208765,
+            -0.7658749413403726,
+            -0.09013291739527075,
+            -0.7876895824615359,
+            0.9912240273485734
+        ],
+        "q90": [
+            -0.02047118543835613,
+            2.2635170079577867,
+            1.296462293383242,
+            1.2965849305144033,
+            -0.012783010944685159,
+            0.010059008760592684,
+            0.982499380346712,
+            0.3024404653246699,
+            2.0786434604602255,
+            2.1575494583808443,
+            -0.08885661277504012,
+            0.09703803936320689,
+            -0.036279364922962215,
+            0.991259940003108
+        ],
+        "q99": [
+            0.02304074815638486,
+            2.3177804679235154,
+            1.3509339184759215,
+            1.359392722952985,
+            0.078493428591091,
+            0.07959971404475964,
+            0.9846311352925607,
+            0.3297493677964313,
+            2.1743695079724334,
+            2.1594380873270715,
+            -0.015330969611751026,
+            0.14722050716653676,
+            0.02094334854823505,
+            0.9935798906182571
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            22.966666666666665
+        ],
+        "mean": [
+            8.318556816484982
+        ],
+        "std": [
+            5.063402947747375
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            0.15069147319830684
+        ],
+        "q10": [
+            1.6486997017763674
+        ],
+        "q50": [
+            8.311530408142865
+        ],
+        "q90": [
+            14.985051291205536
+        ],
+        "q99": [
+            16.486142743615197
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            3.9999999999994167e-16
+        ],
+        "q10": [
+            3.99999999999942e-15
+        ],
+        "q50": [
+            1.9999999999997075e-14
+        ],
+        "q90": [
+            3.599999999999479e-14
+        ],
+        "q99": [
+            3.959999999999422e-14
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            689
+        ],
+        "mean": [
+            249.55670449454982
+        ],
+        "std": [
+            151.90208843242144
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            4.520744198796835
+        ],
+        "q10": [
+            49.46099105561641
+        ],
+        "q50": [
+            249.3246143795727
+        ],
+        "q90": [
+            449.5515387338416
+        ],
+        "q99": [
+            494.5842823056084
+        ]
+    },
+    "observation.images.top": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.48417897092661616
+                ]
+            ],
+            [
+                [
+                    0.47205691368367064
+                ]
+            ],
+            [
+                [
+                    0.4479075931571704
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0019170500003775081
+                ]
+            ],
+            [
+                [
+                    0.0019044260975858275
+                ]
+            ],
+            [
+                [
+                    0.0019751088435508626
+                ]
+            ]
+        ],
+        "count": [
+            1028659200
+        ],
+        "q01": [
+            [
+                [
+                    0.00460501530920521
+                ]
+            ],
+            [
+                [
+                    0.022641893670134666
+                ]
+            ],
+            [
+                [
+                    0.007595676986435388
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.06589223031302825
+                ]
+            ],
+            [
+                [
+                    0.08762404394528038
+                ]
+            ],
+            [
+                [
+                    0.0759960368800674
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5285672729530844
+                ]
+            ],
+            [
+                [
+                    0.49770107122084045
+                ]
+            ],
+            [
+                [
+                    0.45662036561998554
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7358846307906232
+                ]
+            ],
+            [
+                [
+                    0.7324515182220667
+                ]
+            ],
+            [
+                [
+                    0.738581487588643
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8675672891775804
+                ]
+            ],
+            [
+                [
+                    0.807368280870445
+                ]
+            ],
+            [
+                [
+                    0.8339892614544382
+                ]
+            ]
+        ]
+    },
+    "observation.images.left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5279477789850601
+                ]
+            ],
+            [
+                [
+                    0.4501388727208788
+                ]
+            ],
+            [
+                [
+                    0.37011207673895047
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.008768364448331067
+                ]
+            ],
+            [
+                [
+                    0.005051170743677176
+                ]
+            ],
+            [
+                [
+                    0.006456291231430342
+                ]
+            ]
+        ],
+        "count": [
+            1028659200
+        ],
+        "q01": [
+            [
+                [
+                    0.027860506264486475
+                ]
+            ],
+            [
+                [
+                    0.04211824318148287
+                ]
+            ],
+            [
+                [
+                    -1e-10
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.2258942794709638
+                ]
+            ],
+            [
+                [
+                    0.13351232658376616
+                ]
+            ],
+            [
+                [
+                    0.023817325722572336
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5213254840198278
+                ]
+            ],
+            [
+                [
+                    0.44523824605988466
+                ]
+            ],
+            [
+                [
+                    0.3465364261609301
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8503906899442883
+                ]
+            ],
+            [
+                [
+                    0.7763219612401215
+                ]
+            ],
+            [
+                [
+                    0.7803391338725153
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9912288319105496
+                ]
+            ],
+            [
+                [
+                    0.9999289661719217
+                ]
+            ],
+            [
+                [
+                    0.9955754428699138
+                ]
+            ]
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            53575
+        ],
+        "mean": [
+            26787.5
+        ],
+        "std": [
+            15466.059008357626
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            26542.464039704253
+        ],
+        "q10": [
+            26587.40428656108
+        ],
+        "q50": [
+            26787.289893176043
+        ],
+        "q90": [
+            26987.494834239274
+        ],
+        "q99": [
+            27032.527577811055
+        ]
+    },
+    "observation.images.right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.44485070732243037
+                ]
+            ],
+            [
+                [
+                    0.47323096725157876
+                ]
+            ],
+            [
+                [
+                    0.44285327385015216
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.010704506300494007
+                ]
+            ],
+            [
+                [
+                    0.008823899164203675
+                ]
+            ],
+            [
+                [
+                    0.011198568885167863
+                ]
+            ]
+        ],
+        "count": [
+            1028659200
+        ],
+        "q01": [
+            [
+                [
+                    -1e-10
+                ]
+            ],
+            [
+                [
+                    0.05345525920624845
+                ]
+            ],
+            [
+                [
+                    0.0024757155155000978
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.05375564161720779
+                ]
+            ],
+            [
+                [
+                    0.1666281744052707
+                ]
+            ],
+            [
+                [
+                    0.068333713873504
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.4557392078335577
+                ]
+            ],
+            [
+                [
+                    0.4724578868284436
+                ]
+            ],
+            [
+                [
+                    0.45549831621108083
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8551129077565701
+                ]
+            ],
+            [
+                [
+                    0.7440423625119863
+                ]
+            ],
+            [
+                [
+                    0.7174212390674228
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9934195256585153
+                ]
+            ],
+            [
+                [
+                    0.9909793533370254
+                ]
+            ],
+            [
+                [
+                    0.9723291536450821
+                ]
+            ]
+        ]
+    },
+    "observation.state": {
+        "min": [
+            -1.0759518146514893,
+            0.0009536888683214784,
+            0.006294346414506435,
+            -0.4358358085155487,
+            -1.117914080619812,
+            -0.2924010157585144,
+            0.01180790551006794,
+            -0.25158312916755676,
+            0.009346150793135166,
+            0.01125352829694748,
+            -1.5218967199325562,
+            -0.6376363635063171,
+            -2.093728542327881,
+            0.7149009704589844
+        ],
+        "max": [
+            0.13065537810325623,
+            2.385175943374634,
+            1.4021133184432983,
+            1.5714884996414185,
+            0.28820478916168213,
+            0.4045548141002655,
+            0.9892720580101013,
+            0.45796138048171997,
+            2.3302433490753174,
+            2.4881742000579834,
+            0.12378881871700287,
+            0.28553444147109985,
+            0.22487983107566833,
+            0.9970571398735046
+        ],
+        "mean": [
+            -0.63550657886337,
+            1.5615871891532884,
+            0.6965208311182932,
+            0.9369531815619331,
+            -0.595380886239945,
+            -0.03218648120491299,
+            0.4371163810301409,
+            0.03638202073432817,
+            1.0637618322534512,
+            0.9712950593146776,
+            -0.6121694047954634,
+            -0.09610630021622044,
+            -0.8035095879101337,
+            0.9206404266652286
+        ],
+        "std": [
+            0.3344038469736253,
+            0.8034555733588594,
+            0.4326935281405592,
+            0.465172066234144,
+            0.3356445324362576,
+            0.048731221350076945,
+            0.4263346235068945,
+            0.13241792624735987,
+            0.8858926476583555,
+            0.8211793984481238,
+            0.47826521074393735,
+            0.18799360374318047,
+            0.7222873013053279,
+            0.10185613068069677
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            -0.9667784796640201,
+            0.006216417237362367,
+            0.009893156373028749,
+            -0.00874850047271328,
+            -0.9356201969944286,
+            -0.10589650073058464,
+            0.050340746244781354,
+            -0.14204614551044312,
+            0.010474086820267672,
+            0.02666648329454093,
+            -1.2465250391664142,
+            -0.45624102694157476,
+            -1.7448357137177433,
+            0.7547419781790241
+        ],
+        "q10": [
+            -0.9649694338769261,
+            0.02573552198306236,
+            0.01300858235408764,
+            0.02043172327779113,
+            -0.9258636580207525,
+            -0.07454126702306363,
+            0.051509912257140536,
+            -0.09214789958469807,
+            0.012917908965739763,
+            0.03189610584184484,
+            -1.1676980016715952,
+            -0.37942234335494246,
+            -1.7054421236142796,
+            0.7586543926196613
+        ],
+        "q50": [
+            -0.6996963320750209,
+            1.9281692655729252,
+            0.7043139699875367,
+            1.1219134282480276,
+            -0.675656123772943,
+            -0.03525587621306823,
+            0.17324544389424643,
+            -0.0018663305254763278,
+            1.3721621396473023,
+            1.2917037236937143,
+            -0.7684556648591719,
+            -0.0885264711762873,
+            -0.7983246331121869,
+            0.991209899592028
+        ],
+        "q90": [
+            -0.020839930628163805,
+            2.248023936112502,
+            1.271150324586184,
+            1.2910682118839771,
+            -0.019247341044451756,
+            0.013608451470162333,
+            0.9821606273439002,
+            0.30535788026769883,
+            2.070332023495653,
+            2.1327260725632615,
+            -0.08433203703101295,
+            0.0946009727187484,
+            -0.04228523709993545,
+            0.9916769310116211
+        ],
+        "q99": [
+            0.021514986665160878,
+            2.290401688142097,
+            1.3151326089196247,
+            1.3482298362716685,
+            0.05939801432135385,
+            0.06664938947793224,
+            0.9835536951767246,
+            0.328627784470201,
+            2.1472299683149267,
+            2.1385109412935295,
+            -0.020360971432923997,
+            0.1339745508011282,
+            0.0051366403420977655,
+            0.9925007220941376
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            109
+        ],
+        "mean": [
+            53.11563013289533
+        ],
+        "std": [
+            31.666982138963505
+        ],
+        "count": [
+            53576
+        ],
+        "q01": [
+            53.11563013289533
+        ],
+        "q10": [
+            53.11563013289533
+        ],
+        "q50": [
+            53.11563013289533
+        ],
+        "q90": [
+            53.11563013289533
+        ],
+        "q99": [
+            53.11563013289533
+        ]
+    }
+}

meta/subtasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1834d5a294c8a26eb1e8e6f4a4d183af7bb5abf935f5be31d932b1bdee359331
+size 2369

meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe0e94ddbb55d758626aec7dee27017634ef6acfa856a9f006dc75dda80cc61
+size 2115

videos/observation.images.top/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312bca3d0829d16f63483e142b1a0b4f86199aefc4b7fb733c0fcb9f4a659356
+size 3016517

videos/observation.images.top/chunk-000/file-001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4107a8c4a560c708b012ca1be8c954a53bab06522990a448f1c060e0349c5883
+size 4670050

videos/observation.images.top/chunk-000/file-002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275518d62f5a8d12ad463cf9f6fcbb9b3bbc0cbdb0ef431be403d248ebe5aed9
+size 4644141

videos/observation.images.top/chunk-000/file-003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951fa5d9bb7bc558ffe1b64b2a22f97659ab70272ccede2725eb8ef65b69eaca
+size 4316739

videos/observation.images.top/chunk-000/file-004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73404fa44ae4f7064d073d63a561d1d865e64ef62d03151b1910157193a31e61
+size 4375664

videos/observation.images.top/chunk-000/file-005.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d670bd8474437ad5b12c5b593e2679247242d1fdb221a2c762edc324004ccd13
+size 4313914

videos/observation.images.top/chunk-000/file-006.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3429980f048f935ba3efdf8365b6f457e10503266b27d56c44c6d6814d1c32ec
+size 4091510

videos/observation.images.top/chunk-000/file-007.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30276d6e5ff3bfffd9d9070bc1b123b54457ff3dedf60a25f82674b00987cd6e
+size 2953316