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+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 43,
+    "final_success": true,
+    "events": []
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000155/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000155/meta.json
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index 0000000000000000000000000000000000000000..73ae1e4ea428eabd0c1c7057146f11905837ad52
--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000155/meta.json
@@ -0,0 +1,24 @@
+{
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+    "final_success": true,
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000156/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000156/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000156/meta.json
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+{
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+    "grasp_type": "Small Diameter"
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000157/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000157/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000157/meta.json
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+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000158/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000158/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000031_s000158/meta.json
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+{
+  "segment_id": "rbt_ep000031_s000158",
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+    "grasp_type": "Small Diameter"
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000159/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000159/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000159/meta.json
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+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000160/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000160/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000160/meta.json
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+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000161/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000161/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000161/meta.json
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+{
+  "segment_id": "rbt_ep000032_s000161",
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000162/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000162/meta.json
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+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000162/meta.json
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+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000163/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000163/meta.json
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+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000032_s000163/meta.json
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+{
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diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000164/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000164/meta.json
new file mode 100644
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000164/meta.json
@@ -0,0 +1,24 @@
+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000165/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000165/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000165/meta.json
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+{
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diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000166/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000166/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000166/meta.json
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+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000167/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000167/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000033_s000167/meta.json
@@ -0,0 +1,24 @@
+{
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diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000168/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000168/meta.json
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index 0000000000000000000000000000000000000000..31bcdd3947190ced2b87e11725f5de4d61aed85b
--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000168/meta.json
@@ -0,0 +1,24 @@
+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000169/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000169/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000169/meta.json
@@ -0,0 +1,24 @@
+{
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diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000170/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ad348b4a5572a61fdae2d09232ef0e9f64ab34
--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000170/meta.json
@@ -0,0 +1,24 @@
+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000171/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000171/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000171/meta.json
@@ -0,0 +1,24 @@
+{
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+}
diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000172/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000172/meta.json
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--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000034_s000172/meta.json
@@ -0,0 +1,24 @@
+{
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diff --git a/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000035_s000178/meta.json b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000035_s000178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f15c90137f55753d6393cd0f97da7f5a47320e
--- /dev/null
+++ b/0507_4_test_tube_cleaning/annotated/segments/train/rbt_ep000035_s000178/meta.json
@@ -0,0 +1,24 @@
+{
+  "segment_id": "rbt_ep000035_s000178",
+  "source": {
+    "dataset_id": "0507_4",
+    "episode_idx": 35,
+    "start_frame": 0,
+    "end_frame": 41,
+    "start_time_sec": 0.0,
+    "end_time_sec": 1.3666666666666667,
+    "fps": 30.0
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "test tube and test tube brush",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 40,
+    "final_success": true,
+    "events": []
+  },
+  "notes": ""
+}