diff --git "a/datasets/rmbench/keyframes/swap_T.json" "b/datasets/rmbench/keyframes/swap_T.json"
new file mode 100644--- /dev/null
+++ "b/datasets/rmbench/keyframes/swap_T.json"
@@ -0,0 +1,4202 @@
+{
+  "episode0": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 155,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode1": {
+    "n_frames": 332,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 67,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 119,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 154,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 188,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 261,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 331,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode10": {
+    "n_frames": 336,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 300,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode11": {
+    "n_frames": 341,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 67,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 119,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 154,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 188,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 304,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 340,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode12": {
+    "n_frames": 336,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 158,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode13": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 119,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 154,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 188,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode14": {
+    "n_frames": 347,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 274,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode15": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode16": {
+    "n_frames": 345,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 344,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode17": {
+    "n_frames": 338,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 67,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 118,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 152,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 186,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 223,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode18": {
+    "n_frames": 337,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 194,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode19": {
+    "n_frames": 348,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 161,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 234,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 277,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 311,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode2": {
+    "n_frames": 348,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 157,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 228,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode20": {
+    "n_frames": 342,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 67,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 157,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 228,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 341,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode21": {
+    "n_frames": 351,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 163,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 236,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 279,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode22": {
+    "n_frames": 342,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 155,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 189,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 304,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 341,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode23": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 161,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 233,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 275,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode24": {
+    "n_frames": 350,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 276,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode25": {
+    "n_frames": 335,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 158,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 264,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 334,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode26": {
+    "n_frames": 345,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 194,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 274,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 344,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode27": {
+    "n_frames": 354,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 164,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 199,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 236,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 316,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode28": {
+    "n_frames": 341,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 156,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 228,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 340,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode29": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 35,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 161,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 233,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 275,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode3": {
+    "n_frames": 338,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 337,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode30": {
+    "n_frames": 337,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 194,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode31": {
+    "n_frames": 347,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 67,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 155,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 189,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 227,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode32": {
+    "n_frames": 343,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 155,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 189,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 270,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 342,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode33": {
+    "n_frames": 348,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 35,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 157,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 228,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode34": {
+    "n_frames": 343,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 230,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 342,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode35": {
+    "n_frames": 344,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 158,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 307,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 343,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode36": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 35,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 123,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 161,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 275,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode37": {
+    "n_frames": 336,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 230,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 265,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 335,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode38": {
+    "n_frames": 344,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 158,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 343,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode39": {
+    "n_frames": 337,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 119,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 267,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 301,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode4": {
+    "n_frames": 340,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 162,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 234,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 269,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 303,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 339,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode40": {
+    "n_frames": 354,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 35,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 161,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 234,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 280,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 316,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 353,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode41": {
+    "n_frames": 348,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 194,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 275,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode42": {
+    "n_frames": 332,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 155,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 189,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 261,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 331,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode43": {
+    "n_frames": 342,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 156,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 228,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 341,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode44": {
+    "n_frames": 343,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 158,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 342,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode45": {
+    "n_frames": 349,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 35,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 162,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 197,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 236,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 278,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode46": {
+    "n_frames": 337,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 159,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 266,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 300,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 336,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode47": {
+    "n_frames": 342,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 156,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 227,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 341,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode48": {
+    "n_frames": 347,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 35,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 161,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 233,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 276,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode49": {
+    "n_frames": 345,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 194,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 231,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 274,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 344,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode5": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 121,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 158,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 229,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 273,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode6": {
+    "n_frames": 346,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 122,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 157,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 228,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 272,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode7": {
+    "n_frames": 348,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 160,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 195,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 232,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 275,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode8": {
+    "n_frames": 359,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 38,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 73,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 91,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 126,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 165,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 200,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 238,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 288,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 322,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 358,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  },
+  "episode9": {
+    "n_frames": 344,
+    "n_keyframes": 11,
+    "instruction": "Swap the poses of the two T-blocks, including both position and orientation.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 34,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_L+gripper_close_R",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Pick up both T-blocks with dual arms."
+      },
+      {
+        "frame_idx": 86,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Move dual arms to original position."
+      },
+      {
+        "frame_idx": 120,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 155,
+        "reason": "vel_zero",
+        "left_gripper": 0.2,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 189,
+        "reason": "vel_zero+gripper_open_L",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the left arm to place the red T-block into the initial pose of the blue T-block."
+      },
+      {
+        "frame_idx": 227,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 271,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.2,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      },
+      {
+        "frame_idx": 343,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Use the right arm to place the blue T-block into the initial pose of the red T-block."
+      }
+    ]
+  }
+}
\ No newline at end of file