{
  "version": 1,
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              "level": "subtask",
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              "level": "subtask",
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            {
              "level": "motion",
              "text": "move the gripper to above the wood cube"
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            {
              "level": "motion",
              "text": "move the gripper to the right and down"
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          "quiz_anchor": "pick up the wood cube",
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              "level": "motion",
              "text": "lower the gripper onto the wood cube"
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              "level": "motion",
              "text": "move the gripper down"
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            {
              "level": "gripper",
              "text": "close the gripper"
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            {
              "level": "gripper",
              "text": "grip the wood cube"
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          "quiz_anchor": "pick up the wood cube",
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              "level": "subtask",
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              "level": "subtask",
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            {
              "level": "motion",
              "text": "move the gripper away from the wood cube"
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            {
              "level": "motion",
              "text": "move the gripper up"
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            {
              "level": "motion",
              "text": "move the wood cube to above the green tray"
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              "level": "motion",
              "text": "move the gripper to the left and forward"
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            {
              "level": "motion",
              "text": "lower the wood cube onto the green tray"
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            {
              "level": "motion",
              "text": "move the gripper down and to the left"
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          "quiz_anchor": "place the wood cube on the green tray",
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              "text": "put the wood cube down on the green tray"
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            {
              "level": "gripper",
              "text": "open the gripper"
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            {
              "level": "gripper",
              "text": "release the wood cube"
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            {
              "level": "motion",
              "text": "move the gripper up"
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            {
              "level": "motion",
              "text": "move the gripper to above the green cube"
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              "level": "motion",
              "text": "move the gripper to the right and backward"
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            {
              "level": "motion",
              "text": "lower the gripper onto the green cube"
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            {
              "level": "motion",
              "text": "move the gripper down and backward"
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            {
              "level": "gripper",
              "text": "close the gripper"
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            {
              "level": "gripper",
              "text": "grip the green cube"
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              "text": "put the green cube down on the green tray"
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            {
              "level": "motion",
              "text": "move the gripper away from the green cube"
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            {
              "level": "motion",
              "text": "move the gripper up"
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            },
            {
              "level": "motion",
              "text": "move the green cube to above the green tray"
            },
            {
              "level": "motion",
              "text": "move the gripper to the left and forward"
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          ],
          "quiz_anchor": "place the green cube on the green tray",
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            {
              "level": "motion",
              "text": "lower the green cube onto the green tray"
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            {
              "level": "motion",
              "text": "move the gripper to the left"
            }
          ],
          "quiz_anchor": "place the green cube on the green tray",
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              "level": "motion",
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              "text": "move the gripper forward and up"
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            {
              "level": "motion",
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              "level": "gripper",
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              "level": "gripper",
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              "level": "gripper",
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              "level": "gripper",
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              "level": "motion",
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              "level": "motion",
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      "hdf5_stem": "episode_000024",
      "instruction": "Place all the cubes on the green tray",
      "num_frames": 506,
      "segments": [
        {
          "frame_start": 1,
          "frame_end": 74,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the wood cube"
            },
            {
              "level": "subtask",
              "text": "grasp the wood cube"
            },
            {
              "level": "motion",
              "text": "move the gripper to above the wood cube"
            },
            {
              "level": "motion",
              "text": "move the gripper to the right and forward"
            }
          ],
          "quiz_anchor": "pick up the wood cube",
          "quiz_geometry": "reach 144 145 187 231 133 114 201. grasp 126 127 128 255 128 129 125. object 144 141 205"
        },
        {
          "frame_start": 74,
          "frame_end": 105,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the wood cube"
            },
            {
              "level": "subtask",
              "text": "grasp the wood cube"
            },
            {
              "level": "motion",
              "text": "lower the gripper onto the wood cube"
            },
            {
              "level": "motion",
              "text": "move the gripper down"
            }
          ],
          "quiz_anchor": "pick up the wood cube",
          "quiz_geometry": "reach 128 130 182 219 128 126 217. grasp 126 127 128 255 128 129 125. object 129 129 187"
        },
        {
          "frame_start": 105,
          "frame_end": 135,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the wood cube"
            },
            {
              "level": "subtask",
              "text": "grasp the wood cube"
            },
            {
              "level": "gripper",
              "text": "close the gripper"
            },
            {
              "level": "gripper",
              "text": "grip the wood cube"
            }
          ],
          "quiz_anchor": "pick up the wood cube",
          "quiz_geometry": ""
        },
        {
          "frame_start": 135,
          "frame_end": 166,
          "commands": [
            {
              "level": "subtask",
              "text": "place the wood cube on the green tray"
            },
            {
              "level": "subtask",
              "text": "put the wood cube down on the green tray"
            },
            {
              "level": "motion",
              "text": "move the gripper away from the wood cube"
            },
            {
              "level": "motion",
              "text": "move the gripper up"
            }
          ],
          "quiz_anchor": "place the wood cube on the green tray",
          "quiz_geometry": "reach 126 125 158 218 126 126 218. grasp 126 127 128 255 128 129 125. place 116 113 169 142 253 106 129. object 129 128 174"
        },
        {
          "frame_start": 166,
          "frame_end": 223,
          "commands": [
            {
              "level": "subtask",
              "text": "place the wood cube on the green tray"
            },
            {
              "level": "subtask",
              "text": "put the wood cube down on the green tray"
            },
            {
              "level": "motion",
              "text": "move the wood cube to above the green tray"
            },
            {
              "level": "motion",
              "text": "move the gripper backward and to the left"
            }
          ],
          "quiz_anchor": "place the wood cube on the green tray",
          "quiz_geometry": "reach 115 113 162 229 116 137 204. grasp 126 127 128 255 128 129 125. place 117 115 174 143 253 106 127. object 129 128 174"
        },
        {
          "frame_start": 223,
          "frame_end": 256,
          "commands": [
            {
              "level": "subtask",
              "text": "place the wood cube on the green tray"
            },
            {
              "level": "subtask",
              "text": "put the wood cube down on the green tray"
            },
            {
              "level": "motion",
              "text": "lower the wood cube onto the green tray"
            },
            {
              "level": "motion",
              "text": "move the gripper down"
            }
          ],
          "quiz_anchor": "place the wood cube on the green tray",
          "quiz_geometry": "reach 126 127 176 219 125 129 216. grasp 126 127 128 255 128 129 125. place 128 126 178 131 255 123 126. object 129 128 174"
        },
        {
          "frame_start": 256,
          "frame_end": 286,
          "commands": [
            {
              "level": "subtask",
              "text": "place the wood cube on the green tray"
            },
            {
              "level": "subtask",
              "text": "put the wood cube down on the green tray"
            },
            {
              "level": "gripper",
              "text": "open the gripper"
            },
            {
              "level": "gripper",
              "text": "release the wood cube"
            }
          ],
          "quiz_anchor": "place the wood cube on the green tray",
          "quiz_geometry": ""
        },
        {
          "frame_start": 286,
          "frame_end": 317,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the green cube"
            },
            {
              "level": "subtask",
              "text": "grasp the green cube"
            },
            {
              "level": "motion",
              "text": "move the gripper up"
            }
          ],
          "quiz_anchor": "pick up the green cube",
          "quiz_geometry": "reach 127 127 160 218 128 126 218. grasp 126 129 128 255 130 129 124. object 119 150 178"
        },
        {
          "frame_start": 317,
          "frame_end": 371,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the green cube"
            },
            {
              "level": "subtask",
              "text": "grasp the green cube"
            },
            {
              "level": "motion",
              "text": "move the gripper to above the green cube"
            },
            {
              "level": "motion",
              "text": "move the gripper to the right and forward"
            }
          ],
          "quiz_anchor": "pick up the green cube",
          "quiz_geometry": "reach 122 150 164 219 124 113 216. grasp 126 129 128 255 130 129 124. object 119 150 182"
        },
        {
          "frame_start": 371,
          "frame_end": 402,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the green cube"
            },
            {
              "level": "subtask",
              "text": "grasp the green cube"
            },
            {
              "level": "motion",
              "text": "lower the gripper onto the green cube"
            },
            {
              "level": "motion",
              "text": "move the gripper down and to the right"
            }
          ],
          "quiz_anchor": "pick up the green cube",
          "quiz_geometry": "reach 126 130 179 218 128 125 218. grasp 126 129 128 255 130 129 124. object 128 131 185"
        },
        {
          "frame_start": 402,
          "frame_end": 432,
          "commands": [
            {
              "level": "subtask",
              "text": "pick up the green cube"
            },
            {
              "level": "subtask",
              "text": "grasp the green cube"
            },
            {
              "level": "gripper",
              "text": "close the gripper"
            },
            {
              "level": "gripper",
              "text": "grip the green cube"
            }
          ],
          "quiz_anchor": "pick up the green cube",
          "quiz_geometry": ""
        },
        {
          "frame_start": 432,
          "frame_end": 463,
          "commands": [
            {
              "level": "subtask",
              "text": "place the green cube on the green tray"
            },
            {
              "level": "subtask",
              "text": "put the green cube down on the green tray"
            },
            {
              "level": "motion",
              "text": "move the gripper away from the green cube"
            },
            {
              "level": "motion",
              "text": "move the gripper up"
            }
          ],
          "quiz_anchor": "place the green cube on the green tray",
          "quiz_geometry": "reach 125 125 160 219 127 124 217. grasp 126 129 128 255 130 129 124. place 155 90 164 139 218 38 122. object 129 127 176"
        },
        {
          "frame_start": 463,
          "frame_end": 505,
          "commands": [
            {
              "level": "subtask",
              "text": "place the green cube on the green tray"
            },
            {
              "level": "subtask",
              "text": "put the green cube down on the green tray"
            },
            {
              "level": "motion",
              "text": "move the green cube to above the green tray"
            },
            {
              "level": "motion",
              "text": "move the gripper to the left and up"
            }
          ],
          "quiz_anchor": "place the green cube on the green tray",
          "quiz_geometry": "reach 153 93 156 255 120 139 133. grasp 126 129 128 255 130 129 124. place 157 93 168 143 218 39 122. object 129 127 176"
        }
      ]
    }
  ]
}