diff --git "a/datasets/rmbench/keyframes/rearrange_blocks.json" "b/datasets/rmbench/keyframes/rearrange_blocks.json"
new file mode 100644--- /dev/null
+++ "b/datasets/rmbench/keyframes/rearrange_blocks.json"
@@ -0,0 +1,5952 @@
+{
+  "episode0": {
+    "n_frames": 405,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 253,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 352,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 404,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode1": {
+    "n_frames": 399,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 362,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 398,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode10": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 208,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 219,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 252,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 351,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode11": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 254,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 369,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode12": {
+    "n_frames": 403,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 252,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 268,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 366,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 402,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode13": {
+    "n_frames": 401,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 249,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 364,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 400,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode14": {
+    "n_frames": 402,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 251,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 365,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 401,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode15": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 206,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 302,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 338,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 354,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 369,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode16": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 254,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 369,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode17": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 362,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode18": {
+    "n_frames": 402,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 365,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 401,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode19": {
+    "n_frames": 399,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 362,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 398,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode2": {
+    "n_frames": 403,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 208,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 219,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 251,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 268,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 366,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 402,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode20": {
+    "n_frames": 399,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 263,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 362,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 398,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode21": {
+    "n_frames": 403,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 251,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 268,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 366,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 402,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode22": {
+    "n_frames": 402,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 206,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 218,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 365,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 401,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode23": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode24": {
+    "n_frames": 407,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 254,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 338,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 354,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 370,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 406,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode25": {
+    "n_frames": 403,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 251,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 366,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 402,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode26": {
+    "n_frames": 402,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 365,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 401,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode27": {
+    "n_frames": 405,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 222,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 254,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 300,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 352,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 404,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode28": {
+    "n_frames": 398,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 331,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 397,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode29": {
+    "n_frames": 403,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 208,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 219,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 366,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 402,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode3": {
+    "n_frames": 402,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 207,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 218,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 365,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 401,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode30": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 253,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 352,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 369,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode31": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode32": {
+    "n_frames": 404,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 206,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 352,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 367,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 403,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode33": {
+    "n_frames": 401,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 364,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 400,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode34": {
+    "n_frames": 409,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 200,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 211,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 224,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 256,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 304,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 341,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 356,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 372,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 408,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode35": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 206,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 219,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 251,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 303,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 339,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 354,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 369,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode36": {
+    "n_frames": 407,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 223,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 255,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 302,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 338,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 354,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 370,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 406,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode37": {
+    "n_frames": 405,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 253,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 352,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 404,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode38": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode39": {
+    "n_frames": 405,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 254,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 404,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode4": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 194,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 205,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 218,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 249,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode40": {
+    "n_frames": 398,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 397,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode41": {
+    "n_frames": 398,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 244,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 263,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 331,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 397,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode42": {
+    "n_frames": 405,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 252,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 351,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 404,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode43": {
+    "n_frames": 397,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 262,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 294,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 330,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 360,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 396,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode44": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode45": {
+    "n_frames": 408,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 223,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 255,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 302,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 339,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 355,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 371,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 407,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode46": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 333,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode47": {
+    "n_frames": 404,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 222,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 252,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 351,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 367,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 403,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode48": {
+    "n_frames": 401,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 250,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 332,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 364,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 400,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode49": {
+    "n_frames": 403,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 208,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 219,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 252,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 268,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 366,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 402,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode5": {
+    "n_frames": 398,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 263,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 331,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 397,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode6": {
+    "n_frames": 406,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 198,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 209,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 220,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 253,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 300,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 369,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 405,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode7": {
+    "n_frames": 400,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 399,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  },
+  "episode8": {
+    "n_frames": 407,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it to the left empty mat."
+      },
+      {
+        "frame_idx": 142,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 210,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 221,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 254,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 338,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 354,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 370,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      },
+      {
+        "frame_idx": 406,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it between the two mats."
+      }
+    ]
+  },
+  "episode9": {
+    "n_frames": 405,
+    "n_keyframes": 16,
+    "instruction": "Move the block between the two mats onto the empty mat, press the button, then move the other block (the one that started on a mat) to the space between the two mats.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 70,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the right block and move it to the right empty mat."
+      },
+      {
+        "frame_idx": 141,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 206,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 219,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press button."
+      },
+      {
+        "frame_idx": 251,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 302,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 338,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 368,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      },
+      {
+        "frame_idx": 404,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the left block and move it between the two mats."
+      }
+    ]
+  }
+}
\ No newline at end of file