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 *.obj filter=lfs diff=lfs merge=lfs -text
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+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 17
+- 3
+- 6
+- 9
+- 12
+- 15
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 25
+nv: 24
+nu: 18
+npair: 158
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4
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index 0000000000000000000000000000000000000000..22cd8066547c3ebf4bc5116ce477e2c8da6936fc
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.viser b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.viser
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--- /dev/null
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diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
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diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..422ea16a43cf68b83b85fd1dbdd284685b3bb40c
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml
@@ -0,0 +1,402 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0030_00002/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0030_00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0030_00002/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02_0030_00002/convex/10.obj"/>
+    <mesh name="right_2" file="objects/O02_0030_00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0030_00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0030_00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0030_00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0030_00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0030_00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0030_00002/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02_0030_00002/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
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+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
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+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
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+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
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+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_10" name="collision_hand_right_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_9" name="collision_hand_right_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..14068be3c451fc26df1555ee7ab07473defc214b
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml
@@ -0,0 +1,415 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0030_00002/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0030_00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0030_00002/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02_0030_00002/convex/10.obj"/>
+    <mesh name="right_2" file="objects/O02_0030_00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0030_00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0030_00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0030_00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0030_00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0030_00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0030_00002/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02_0030_00002/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_10" name="collision_hand_right_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_9" name="collision_hand_right_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json b/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..db15eab19fe3a07be4b3266c6d7d6917c5544cb0
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json
@@ -0,0 +1,31 @@
+{
+  "task": "pick_spoon_bowl",
+  "dataset_name": "oakinkv2",
+  "robot_type": "xhand",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0030_00002",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_01__A001/seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19",
+  "oakink_seq_token": "scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19",
+  "oakink_obj_id": "O02@0030@00002",
+  "oakink_primitive": "scoop",
+  "oakink_grasp_range": [
+    1111,
+    4598
+  ],
+  "oakink_window": [
+    931,
+    1411
+  ],
+  "obj_first_frame_lowest_world_z": 0.007055115031203735,
+  "scene_lowest_world_z": 0.006876816536960102,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": -0.04294488496879627,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml b/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d2260868e24d0b709cdd864bc15ca4d021694e29
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: xhand
+embodiment_type: right
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 17
+- 3
+- 6
+- 9
+- 12
+- 15
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 25
+nv: 24
+nu: 18
+npair: 132
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e00a787d46a97dfbce6ca0d26d246397a5e9a885
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afdec47bdea8bc6f5068d809110978d6e7b79b774a6dc140ffc34162e8a5c74d
+size 39462
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d55dd3e169b6f954045c4820b781026b6e701f6
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8c2ee21db3cde6565b3caec5ef381a27480a2f2364ae23da5594524d24adf5
+size 77592
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d70d59867623b0efb1a0d9b1aa20cabfa4eb2be5
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc90c94e1d6ef6187fd7b02b51a4f8b5ca37c19716aafe5d0eec101b6b1293b
+size 476533
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d84d08ffb51a77214c94f223f251f6c36f84178a
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc617954fe89c048a5f9222afd5951ab367154184fb1e05fd4fe7825848d02f
+size 109871
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.viser b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.viser
new file mode 100644
index 0000000000000000000000000000000000000000..ac59fd8fa72798ffd0560e8f05e525438cc92475
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4863cf1febbb089d98d38ac926d47ad94b1506a8615e55ff0d5a64e9d0814077
+size 696269
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..043bff1f34bda712fdfbe81eefb57ff1c506bc07
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 225151
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.viser b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.viser
new file mode 100644
index 0000000000000000000000000000000000000000..50dfc0e90ca6452a95a7f38155215980a8accbf6
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 695532
diff --git a/processed/oakinkv2/xhand/right/pour_tube/scene.xml b/processed/oakinkv2/xhand/right/pour_tube/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af7fcf40de6b784af1927f25bd986a624c0fd315
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/scene.xml
@@ -0,0 +1,372 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0011_00003/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0011_00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0011_00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0011_00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0011_00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0011_00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0011_00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0011_00003/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0011_00003/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0011_00003/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml b/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d549a461299f619e83347acac46c8e091d7e2f4b
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml
@@ -0,0 +1,385 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0011_00003/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0011_00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0011_00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0011_00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0011_00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0011_00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0011_00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0011_00003/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0011_00003/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0011_00003/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/pour_tube/task_info.json b/processed/oakinkv2/xhand/right/pour_tube/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..be329ca4e929c3b40380da0812e0a899c42571dd
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/task_info.json
@@ -0,0 +1,31 @@
+{
+  "task": "pour_tube",
+  "dataset_name": "oakinkv2",
+  "robot_type": "xhand",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0011_00003",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_03__A004/seq__f2d09be48f383f8caf97__2023-04-22-18-52-52",
+  "oakink_seq_token": "scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52",
+  "oakink_obj_id": "O02@0011@00003",
+  "oakink_primitive": "hold",
+  "oakink_grasp_range": [
+    1191,
+    1931
+  ],
+  "oakink_window": [
+    1011,
+    1491
+  ],
+  "obj_first_frame_lowest_world_z": 0.17493900291149875,
+  "scene_lowest_world_z": 0.17455401396831044,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": 0.12493900291149874,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0011_00003/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml b/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d7d2febf1633edd605376683164a4dae36fa387
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: xhand
+embodiment_type: right
+task: stir_beaker
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 17
+- 3
+- 6
+- 9
+- 12
+- 15
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 25
+nv: 24
+nu: 18
+npair: 132
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f0a142a9db081c42727c5893cdaba2fc106cc01
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae336c1eec7ae719560a01cb998ebabfa96e9f2d9d445c19b512e42fc3e8ea4a
+size 39462
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6c8a40b83eaa6b819fcf92b6b0926bc38bfdc70
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad29b08807bd42937744bad8e36ad5fab9ef564114abac49c53cb8364a7647e
+size 77592
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ffbb45415c666c13011ca95373599c5af2bbef7
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..9fd9a76f74ce2cc001780b813f323456ebbd3dca
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+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
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+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0033_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0033_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0033_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0033_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0033_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0033_00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0033_00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0033_00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0033_00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0033_00001/convex/8.obj"/>
+  </asset>
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+  <worldbody>
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+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
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+        <body name="R_forearm_roll_link">
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+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
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+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
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+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
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+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
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+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
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+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
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+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
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+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
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+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml b/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..72aa10c60b1f55ea004261f47ae7ffaf937e3812
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml
@@ -0,0 +1,385 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0033_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0033_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0033_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0033_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0033_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0033_00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0033_00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0033_00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0033_00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0033_00001/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/task_info.json b/processed/oakinkv2/xhand/right/stir_beaker/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ffc72bcffa8a44b36e39595455e9495ae2b5a1
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/task_info.json
@@ -0,0 +1,31 @@
+{
+  "task": "stir_beaker",
+  "dataset_name": "oakinkv2",
+  "robot_type": "xhand",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0033_00001",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_01__A005/seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
+  "oakink_seq_token": "scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
+  "oakink_obj_id": "O02@0033@00001",
+  "oakink_primitive": "stir",
+  "oakink_grasp_range": [
+    8047,
+    9208
+  ],
+  "oakink_window": [
+    7867,
+    8347
+  ],
+  "obj_first_frame_lowest_world_z": 0.004580366042942055,
+  "scene_lowest_world_z": 0.003144324651462735,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": -0.04541963395705795,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/config.yaml b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cf97428e5b8b503f5af763708111bf7c1e937ec7
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: xhand
+embodiment_type: right
+task: uncap_alcohol_burner
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 17
+- 3
+- 6
+- 9
+- 12
+- 15
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 25
+nv: 24
+nu: 18
+npair: 80
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66981be92c5ad483863d863e2e0e48b880ec6215
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc3e05de1b1e9086a3798f3209299d23b9151ae4447746a882446597e566902
+size 39462
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a107123879f7fc7b3b4f20aeef411383d03f692
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bdf029685c66a4b83e30213f389af4fa1b47e0cf8dfba23ee616b3d75da3b66
+size 77592
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ebffdd0272dddda5e9f4cbbd76e3c26630c04c36
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b3b75d14883962b7393484c66803eac4a80aea6feb74b8ae279aa52528fd4e
+size 476533
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b3e282ff5c152d10e3a9faf33477aedfa356eb0
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fe62888aa273980ac6e09fa44a83d0a1bc0b3b53759ddf6fce75f456cd39c38
+size 98560
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.viser b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.viser
new file mode 100644
index 0000000000000000000000000000000000000000..43235784cec22ac870fab3da050615a8518f4ebd
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3649940086e69826b5a7aebdb73c50c30f36cbf66cba786038e12e14f36e8db
+size 656994
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a33d90ac9a692a2f2b190f98615d2fc6655b7752
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:943e3ab2d37ca200e84f5090a6a06eecf30e616d0d2deb86f524d3c511faa587
+size 204353
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
new file mode 100644
index 0000000000000000000000000000000000000000..991f24265c9f52c2e8d111b25070ab002d46644e
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad3f2e30fbc97dc767e9157178e186b173ce5e0ecd2bb309a880fb22d2ebe31
+size 656263
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene.xml b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..63787b797a1f3c2996113c4e9e59b479f2f382d5
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene.xml
@@ -0,0 +1,312 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0206_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene_eq.xml b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6553f4e1a0c3816bde1379bd940dce5a1b97a5d8
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene_eq.xml
@@ -0,0 +1,325 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0206_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/task_info.json b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..95798f4e6c63931f568440ace1aa0449c31a54a0
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/task_info.json
@@ -0,0 +1,31 @@
+{
+  "task": "uncap_alcohol_burner",
+  "dataset_name": "oakinkv2",
+  "robot_type": "xhand",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0206_00001",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_03__A007/seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
+  "oakink_seq_token": "scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
+  "oakink_obj_id": "O02@0206@00001",
+  "oakink_primitive": "uncap_alcohol_lamp",
+  "oakink_grasp_range": [
+    9187,
+    9423
+  ],
+  "oakink_window": [
+    9007,
+    9423
+  ],
+  "obj_first_frame_lowest_world_z": 0.07334136502724108,
+  "scene_lowest_world_z": -0.005303162150084927,
+  "object_descends_from_frame0": true,
+  "right_plate_top_world_z": 0.023341365027241073,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0206_00001/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml b/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c06ec4e9de98f3a9542185e9df259049141501a8
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml
@@ -0,0 +1,123 @@
+robot_type: xhand
+embodiment_type: right
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 17
+- 3
+- 6
+- 9
+- 12
+- 15
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 25
+nv: 24
+nu: 18
+npair: 132
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc99537b39873e3104d05db0c17cd044da4087ef
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0aea0921fbf037698d92db0e760280cf84d1689017f40bae22466800b005c8e
+size 39462
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb03bfb4abf70e13ea5d14b2d30337bbc5425454
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1128ee8da0ec4d1d9cd6ad16a9cfd7074015e7db950d808b0e23d921edb93bac
+size 77592
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4785623e0a65f192d27a94ce26355722c3e7fec2
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9fbf3a7df2fb7821987735af058361b9de11ea6557eebeb3923989faf39720c
+size 476533
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74e3997ee1502837689bf24a0380fee657cabdec
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9c6b3d2785329b83dc2973b90511514fd5572421e698f0c76009d6d3bc3de7
+size 111966
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.viser b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.viser
new file mode 100644
index 0000000000000000000000000000000000000000..fda70b3f7c6a0f2db102351fb238f4c43c97ccb3
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf150076c17a927cb0f96e6eeebade7119bf527f8c291e3b8fcb89cadd98045
+size 680593
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0cae9032ebf617cf4268130f4fbea7e386ae5eb0
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d71c15c1fec4aea6b99bb6c5c6ac8ce36408ff487e7f14a52245e39022b29b3d
+size 226654
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.viser b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.viser
new file mode 100644
index 0000000000000000000000000000000000000000..ec514be8bae5843b709fa4b668e01a55a1c4ab87
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.viser
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433121776311d1b5d48e6c5c2458352d77d168601d613c8427102aca1a14df23
+size 679874
diff --git a/processed/oakinkv2/xhand/right/wipe_board/scene.xml b/processed/oakinkv2/xhand/right/wipe_board/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..32c8fa0df31312d1252a808e09973f29470ec3e4
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/scene.xml
@@ -0,0 +1,372 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0055_00002/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0055_00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0055_00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0055_00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0055_00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0055_00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0055_00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0055_00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0055_00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0055_00002/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0165106" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml b/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..04e9ee3dfe835ce4cad1b099f5df26622bd5289e
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml
@@ -0,0 +1,385 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="right_visual" file="objects/O02_0055_00002/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0055_00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0055_00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0055_00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0055_00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0055_00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0055_00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0055_00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0055_00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0055_00002/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0165106" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                    <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakinkv2/xhand/right/wipe_board/task_info.json b/processed/oakinkv2/xhand/right/wipe_board/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5d56e9c41daf2388627c11ac51078b5ee378c3
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/task_info.json
@@ -0,0 +1,31 @@
+{
+  "task": "wipe_board",
+  "dataset_name": "oakinkv2",
+  "robot_type": "xhand",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0055_00002",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_02__A007/seq__eb5f919d73a9ac759146__2023-04-20-14-20-06",
+  "oakink_seq_token": "scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06",
+  "oakink_obj_id": "O02@0055@00002",
+  "oakink_primitive": "brush_whiteboard",
+  "oakink_grasp_range": [
+    867,
+    2593
+  ],
+  "oakink_window": [
+    687,
+    1167
+  ],
+  "obj_first_frame_lowest_world_z": 0.0444893619151409,
+  "scene_lowest_world_z": 0.044203837933111854,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": -0.005510638084859104,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0055_00002/convex"
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/anno_preview/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.pkl b/raw/oakinkv2/anno_preview/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e25041f1b587dd02c006d0748937e18c03c9e068
--- /dev/null
+++ b/raw/oakinkv2/anno_preview/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257ba96917e5b9e4a103954eabc87f4e790046464f81b523f3396cca881159de
+size 67940914
diff --git a/raw/oakinkv2/anno_preview/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.pkl b/raw/oakinkv2/anno_preview/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..32da492fb6c379a4c93a595d74ca657b6e2aaa70
--- /dev/null
+++ b/raw/oakinkv2/anno_preview/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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diff --git a/raw/oakinkv2/anno_preview/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.pkl b/raw/oakinkv2/anno_preview/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.pkl
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diff --git a/raw/oakinkv2/anno_preview/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.pkl b/raw/oakinkv2/anno_preview/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.pkl
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diff --git a/raw/oakinkv2/program.tar b/raw/oakinkv2/program.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c65bf4b4f7825c1d2421f21623ea64278f33077b
--- /dev/null
+++ b/raw/oakinkv2/program.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d234e396e8392c95234db5dd84b33163469419aa68117bf1c355ee7319d500
+size 3594240
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..05683804ea34fe85809c60309caefbdb81394785
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json
@@ -0,0 +1,18 @@
+{
+    "(None, (966, 5954))": {
+        "seg_desc": "Grip the content with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到另一个碟子。"
+    },
+    "(None, (6130, 7331))": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    },
+    "(None, (7815, 8720))": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    },
+    "(None, (8976, 9784))": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab296263e6c31dc8f32e89d7e2790ac4fe846ee7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json
@@ -0,0 +1,6 @@
+{
+    "((1431, 4025), (1431, 4025))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..614e14daae92de7c7fd9ca931f3054f57c701d5e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json
@@ -0,0 +1,18 @@
+{
+    "(None, (1095, 1467))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "((1595, 2340), None)": {
+        "seg_desc": "Place the bowl onto the platform of the scale.",
+        "seg_desc_zh": "将碗放置于秤的平台上。"
+    },
+    "(None, (2336, 2840))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (3228, 5634))": {
+        "seg_desc": "Pour the content from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将内容从较高的蓝色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14ca35299b9101271b8ecd1f74dcd2c6796c1f3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json
@@ -0,0 +1,6 @@
+{
+    "((1059, 6010), (1767, 5962))": {
+        "seg_desc": "Stir in the tall blue mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在较高的蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fda7678b3d1510b3deaa08dcb5250fc1e9b9fb6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1091, 4345))": {
+        "seg_desc": "Scoop the detergent with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将洗洁精从灰绿色瓷瓶舀到碟子。"
+    },
+    "(None, (4737, 7310))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ef0e274786c841cebb01ede991ef69c390d7bc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1445, 4027))": {
+        "seg_desc": "Pour the content from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "将内容从灰绿色瓷瓶倒到碟子。"
+    },
+    "(None, (4256, 7182))": {
+        "seg_desc": "Grip the content with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到另一个碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ffb38854d0fb96fcdf2775b44d257d2c492a82
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1307, 4338))": {
+        "seg_desc": "Spread the jam on the bread with the spoon.",
+        "seg_desc_zh": "用调羹在面包上涂抹果酱。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1da993c88b70604cced57c7774f0f3e2a32b0e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json
@@ -0,0 +1,6 @@
+{
+    "((1746, 3852), (1334, 3880))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..078ca6ad392149d3d8370f7e9576f089a0f5b8dc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1129, 3599))": {
+        "seg_desc": "Scoop the drinks with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将饮料从灰绿色瓷瓶舀到碗。"
+    },
+    "(None, (3811, 7061))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b2472873b97cced8b5915e40b1354fb3e025c7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1006, 3488))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..6712ed482951c8bf429328fd82d7afaf6fdb1a2b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1275, 2008))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "(None, (2312, 3309))": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac77c663f8f29eda3a7a5cc312a622d258537ad0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
@@ -0,0 +1,30 @@
+{
+    "(None, (798, 955))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (991, 1059))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (1111, 1159))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (1375, 2011))": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2207, 2256))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (3056, 3769))": {
+        "seg_desc": "Place the donut inside the plate.",
+        "seg_desc_zh": "将甜甜圈放入碟子。"
+    },
+    "(None, (4309, 4361))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..928c9b4f0290a0b6b8a1ba6abc1c6f3bfa5f9eee
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json
@@ -0,0 +1,6 @@
+{
+    "((1106, 3567), (1198, 3579))": {
+        "seg_desc": "Cut the apple with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..15aab9502b19263b5b4bcc76c3fcca41533dcfcc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json
@@ -0,0 +1,6 @@
+{
+    "((1336, 4211), (1264, 4211))": {
+        "seg_desc": "Screw the cap onto the blue striped bottle.",
+        "seg_desc_zh": "拧紧蓝色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aec31794068efaf7fa4a4acf00f4163c1aa8cd0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1151, 4261))": {
+        "seg_desc": "Grip the sugar cubes with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将糖块从碟子夹到碗。"
+    },
+    "(None, (4586, 6639))": {
+        "seg_desc": "Pour the juice from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将果汁从较高的蓝色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfce9376da3eabaeb3d4c8cf8a6a416b2da519c0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json
@@ -0,0 +1,14 @@
+{
+    "(None, (992, 3710))": {
+        "seg_desc": "Grip the content with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到另一个碟子。"
+    },
+    "(None, (3978, 4563))": {
+        "seg_desc": "Hold the sponge to the position.",
+        "seg_desc_zh": "用手抓握海绵并保持位置。"
+    },
+    "((4563, 6336), (4706, 6336))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e94b064b154cb82d6a358ccca8d23f47405e5a0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json
@@ -0,0 +1,6 @@
+{
+    "((1246, 3439), (1246, 3487))": {
+        "seg_desc": "Unscrew the cap of the blue striped bottle.",
+        "seg_desc_zh": "拧开蓝色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..9413621bd177f4f0b7556a59dec3536a442dadd0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1363, 4161))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac6646a7ec4a9370208325f21ea1f2a05e2e6cb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json
@@ -0,0 +1,10 @@
+{
+    "((1004, 2449), (1417, 2449))": {
+        "seg_desc": "Pour the content from the bowl to the plate.",
+        "seg_desc_zh": "将内容从碗倒到碟子。"
+    },
+    "((2453, 4871), (2453, 4871))": {
+        "seg_desc": "Scrape the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗刮到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c3d788d85cb889fb99a1c12eb7093131613f18
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1146, 5069))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa126113494233052f209a8cd39841671eef3f6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1261, 3255))": {
+        "seg_desc": "Pour the juice from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将果汁从较高的蓝色马克杯倒到碗。"
+    },
+    "(None, (3687, 6845))": {
+        "seg_desc": "Stir in the bowl with the rod.",
+        "seg_desc_zh": "用搅拌棒在碗中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9283380b0880c4e20d9ec8664d6052770cc8e6d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1223, 6627))": {
+        "seg_desc": "Scoop the content with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶舀到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__99369773ed8032d1e35d__2023-04-27-20-48-38.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__99369773ed8032d1e35d__2023-04-27-20-48-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec02ac3c2878d25313725e323a138a4758c0e2a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__99369773ed8032d1e35d__2023-04-27-20-48-38.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1038, 1887))": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2027, 2411))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2844, 7063))": {
+        "seg_desc": "Grip the content with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到另一个碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5461a0756a5f9d6a5f6b1aaee70f33333e0b6f6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1336, 2945))": {
+        "seg_desc": "Pour the content from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将内容从较高的蓝色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..797ff9d3209e20de081c6dcaed0b672b517513d2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json
@@ -0,0 +1,6 @@
+{
+    "((1316, 2377), (1316, 2341))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceb8238ae4365fc880f5b1b0811d79d03da6285b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02.json
@@ -0,0 +1,6 @@
+{
+    "((1152, 3966), (1380, 3966))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7b6d2285d00cfb3bacde70b549386ece22b855c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json
@@ -0,0 +1,42 @@
+{
+    "(None, (1344, 1669))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "(None, (1757, 2273))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (2469, 3410))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "(None, (3726, 4583))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (4679, 5111))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (7841, 8273))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "(None, (8401, 8918))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (9230, 9938))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((9938, 10607), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (9938, 10631))": {
+        "seg_desc": "Hold the plate to the position.",
+        "seg_desc_zh": "用手抓握碟子并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..e02d2fd7dd591d7515d762363b71e9aee189d8ec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1330, 3724))": {
+        "seg_desc": "Pour the content from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将内容从较高的蓝色马克杯倒到碗。"
+    },
+    "(None, (3888, 4781))": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    },
+    "(None, (5345, 6282))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..8285943a023574c7559ea1790af471a8edcef48a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json
@@ -0,0 +1,10 @@
+{
+    "((1111, 5082), (1111, 4598))": {
+        "seg_desc": "Scoop the jam with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将果酱从灰绿色瓷瓶舀到碗。"
+    },
+    "((5294, 6868), (5002, 6868))": {
+        "seg_desc": "Pour the juice from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将果汁从较高的蓝色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__c3e9947ed401e54181b6__2023-04-27-20-27-08.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__c3e9947ed401e54181b6__2023-04-27-20-27-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5a0cbeb13a12f26bfed88fc59fbb544da35db6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__c3e9947ed401e54181b6__2023-04-27-20-27-08.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1168, 6460))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗舀到碟子。"
+    },
+    "((6800, 10723), (6464, 11316))": {
+        "seg_desc": "Scrape the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗刮到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3888aa70a5d2cc4091851db3a3258efcc1532b78
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1069, 2362))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..4082328fb5e92b1cd59aab12552c6744769763bf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json
@@ -0,0 +1,6 @@
+{
+    "((1389, 7586), (1389, 7586))": {
+        "seg_desc": "Scrape the content with the spoon from the plate to the tall blue mug.",
+        "seg_desc_zh": "用调羹将内容从碟子刮到较高的蓝色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae61c20591ea21a44d8c7b8bfbde2e78469b47c4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22.json
@@ -0,0 +1,6 @@
+{
+    "((1130, 2363), (1230, 2291))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6bc35e63bd505912b78e129ffb302b7361e5edc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json
@@ -0,0 +1,6 @@
+{
+    "((1204, 3285), (1368, 3285))": {
+        "seg_desc": "Cut the pear with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切梨。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..910746abcc727ed35adeaf42942539aa4b4ce0bd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53.json
@@ -0,0 +1,6 @@
+{
+    "((1257, 3287), (1257, 3287))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..696f9ae5c6ef2a49d329d4ba3c2e04eadb6fd8c1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1034, 5353))": {
+        "seg_desc": "Scoop the sauce with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将酱汁从灰绿色瓷瓶舀到碟子。"
+    },
+    "(None, (5353, 8031))": {
+        "seg_desc": "Spread the sauce on the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子上涂抹酱汁。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd88890c3054537867b35188cf75aeea6c917516
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json
@@ -0,0 +1,58 @@
+{
+    "((1675, 2192), None)": {
+        "seg_desc": "Place the donut inside the plate.",
+        "seg_desc_zh": "将甜甜圈放入碟子。"
+    },
+    "(None, (2680, 4461))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((2896, 3661), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (4914, 5662))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (5887, 5991))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((6611, 8332), (7320, 8332))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "(None, (8906, 9463))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (9735, 10459))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "(None, (10503, 11060))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((12233, 13377), None)": {
+        "seg_desc": "Rearrange the bowl from one position to another position.",
+        "seg_desc_zh": "将碗从一个位置移动到另一个位置。"
+    },
+    "(None, (12505, 13377))": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    },
+    "((13686, 14454), (13794, 14486))": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((15275, 17661), (15275, 17748))": {
+        "seg_desc": "Scoop the jam with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将果酱从碗舀到碟子。"
+    },
+    "((17937, 18657), (17753, 18657))": {
+        "seg_desc": "Rearrange the fork and the spoon from one position to another position.",
+        "seg_desc_zh": "将叉子和调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a9883ee7bfd047a440c74917351e3ddaa3d24f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json
@@ -0,0 +1,10 @@
+{
+    "((1012, 4178), (1552, 4106))": {
+        "seg_desc": "Stir in the bowl with the rod.",
+        "seg_desc_zh": "用搅拌棒在碗中搅拌。"
+    },
+    "((4178, 7945), (4498, 7945))": {
+        "seg_desc": "Scrape the content with the spoon from the bowl to the blue mug.",
+        "seg_desc_zh": "用调羹将内容从碗刮到蓝色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__05d45aca8ef08285afa5__2023-04-18-10-22-08.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__05d45aca8ef08285afa5__2023-04-18-10-22-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e13d0d427db760634f6523e8eb7648f3ef362b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__05d45aca8ef08285afa5__2023-04-18-10-22-08.json
@@ -0,0 +1,34 @@
+{
+    "(None, (1528, 3689))": {
+        "seg_desc": "Place the green mug inside the microwave oven.",
+        "seg_desc_zh": "将绿色马克杯放入微波炉。"
+    },
+    "((2372, 3077), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((4133, 4938), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (4742, 4870))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((6479, 7157), (6707, 6887))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((7157, 8757), (7428, 8561))": {
+        "seg_desc": "Take the green mug outside the microwave oven.",
+        "seg_desc_zh": "将绿色马克杯拿出微波炉。"
+    },
+    "((8757, 9541), (8953, 9529))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((10310, 11887), (10082, 11887))": {
+        "seg_desc": "Pour the content from the green mug to the bowl.",
+        "seg_desc_zh": "将内容从绿色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..7306ad710f62a927fbb3c64161b50d946fd616d7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1066, 1819))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    },
+    "((2587, 3711), None)": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    },
+    "(None, (2635, 3711))": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f89d3bef8f648e47d4807c333c43a9d69f62e00
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json
@@ -0,0 +1,14 @@
+{
+    "((1765, 5019), (1241, 5019))": {
+        "seg_desc": "Grip the sugar cubes with the tongs from the fryingpan to the bowl.",
+        "seg_desc_zh": "用夹子将糖块从平底锅夹到碗。"
+    },
+    "(None, (5440, 6436))": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    },
+    "((5440, 6436), None)": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..815809d68febb5672b3b800a1a9849e4ce0bf6ce
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json
@@ -0,0 +1,42 @@
+{
+    "((1922, 2734), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "(None, (1922, 2554))": {
+        "seg_desc": "Rearrange the pear from one position to another position.",
+        "seg_desc_zh": "将梨从一个位置移动到另一个位置。"
+    },
+    "((2734, 4388), (2915, 4388))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "((4548, 5858), (4392, 5861))": {
+        "seg_desc": "Cut the pear with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切梨。"
+    },
+    "((6285, 7083), (6285, 6840))": {
+        "seg_desc": "Place the pear inside the plate.",
+        "seg_desc_zh": "将梨放入碟子。"
+    },
+    "((7467, 8337), (7467, 8029))": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((9022, 10828), None)": {
+        "seg_desc": "Pour the salt from the little green cup to the plate.",
+        "seg_desc_zh": "将盐从绿色小茶杯倒到碟子。"
+    },
+    "((11262, 14647), (10152, 14959))": {
+        "seg_desc": "Scoop the salad sauces with the spoon from the yellow mug to another yellow mug.",
+        "seg_desc_zh": "用调羹将沙拉酱从黄色马克杯舀到另一个黄色马克杯。"
+    },
+    "((15127, 15345), (15127, 15345))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((15765, 16487), (15837, 16487))": {
+        "seg_desc": "Rearrange the fork and the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将叉子和白色水果刀从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1899a9f2c8e8986ae6b38c6949ec8ade53fc787
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
@@ -0,0 +1,18 @@
+{
+    "((2338, 6611), (1225, 6611))": {
+        "seg_desc": "Cut the apple with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切苹果。"
+    },
+    "((6611, 7087), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "(None, (6759, 7576))": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "((7768, 12148), (8128, 11944))": {
+        "seg_desc": "Scoop the seasonings with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将调味料从黄色马克杯舀到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b76bbfde7d4a35805b2ec30304986a9ac616efd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02.json
@@ -0,0 +1,6 @@
+{
+    "((2261, 4070), (1212, 3962))": {
+        "seg_desc": "Spread the content on the plate with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀在碟子上涂抹内容。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac1359a99d500b4c7b31dd3850d0d5f185b90392
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
@@ -0,0 +1,10 @@
+{
+    "((1306, 4509), (670, 4973))": {
+        "seg_desc": "Grip the seasonings with the tongs from the fryingpan to the plate.",
+        "seg_desc_zh": "用夹子将调味料从平底锅夹到碟子。"
+    },
+    "((5562, 6911), (5161, 7055))": {
+        "seg_desc": "Spread the seasonings on the plate with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀在碟子上涂抹调味料。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..481c227167cd9b47f1d4013271068381e562d5e6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json
@@ -0,0 +1,10 @@
+{
+    "((1232, 5110), (1232, 5110))": {
+        "seg_desc": "Scoop the content with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶舀到碗。"
+    },
+    "((5231, 10054), (5110, 10018))": {
+        "seg_desc": "Stir in the bowl with the spoon.",
+        "seg_desc_zh": "用调羹在碗中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..b226744f51a86901cbe154e7dae902d9d1f06742
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json
@@ -0,0 +1,10 @@
+{
+    "((935, 4471), (1501, 4912))": {
+        "seg_desc": "Scrape the content with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶刮到碟子。"
+    },
+    "(None, (5156, 5952))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..312ef6d7f14799dc881077d5591072287f80fb3b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json
@@ -0,0 +1,38 @@
+{
+    "((1488, 1768), None)": {
+        "seg_desc": "Hold the blue mug to the position.",
+        "seg_desc_zh": "用手抓握蓝色马克杯并保持位置。"
+    },
+    "((1924, 4150), (1680, 3934))": {
+        "seg_desc": "Scoop the strawberry jam with the spoon from the blue mug to the wineglass.",
+        "seg_desc_zh": "用调羹将草莓果酱从蓝色马克杯舀到酒杯。"
+    },
+    "((4150, 6820), (4378, 6540))": {
+        "seg_desc": "Scoop the orange juice with the spoon from the orange mug to the wineglass.",
+        "seg_desc_zh": "用调羹将橙汁从橙色马克杯舀到酒杯。"
+    },
+    "((6824, 7088), None)": {
+        "seg_desc": "Hold the spoon to the position.",
+        "seg_desc_zh": "用手抓握调羹并保持位置。"
+    },
+    "((7728, 8713), (7080, 8761))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((9271, 11579), (8761, 11595))": {
+        "seg_desc": "Pour the milk from the large black and yellow striped bottle to the wineglass.",
+        "seg_desc_zh": "将牛奶从大的黑黄条纹瓶倒到酒杯。"
+    },
+    "((11759, 12444), (11600, 12720))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((13108, 14561), (13172, 14585))": {
+        "seg_desc": "Scoop the salt with the spoon from the little green cup to the wineglass.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯舀到酒杯。"
+    },
+    "((14806, 16095), (14589, 16471))": {
+        "seg_desc": "Stir in the wineglass with the spoon.",
+        "seg_desc_zh": "用调羹在酒杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a2d6b595dd7a90f1313d1964de06e0c00d65c12
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
@@ -0,0 +1,6 @@
+{
+    "((1634, 4048), (1054, 4048))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..83503cf7a7aa50b772215da2b9dd11dfe0dc3442
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json
@@ -0,0 +1,34 @@
+{
+    "((1410, 3992), (994, 3836))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to the blue mug.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到蓝色马克杯。"
+    },
+    "((4276, 5021), (4108, 5021))": {
+        "seg_desc": "Unscrew the cap of the green striped bottle.",
+        "seg_desc_zh": "拧开绿色条纹瓶的盖子。"
+    },
+    "((5021, 6225), (5021, 6225))": {
+        "seg_desc": "Pour the tea powder from the green striped bottle to the blue mug.",
+        "seg_desc_zh": "将茶粉从绿色条纹瓶倒到蓝色马克杯。"
+    },
+    "((6225, 7282), (6225, 7286))": {
+        "seg_desc": "Screw the cap onto the green striped bottle.",
+        "seg_desc_zh": "拧紧绿色条纹瓶的盖子。"
+    },
+    "((7803, 8323), (7803, 8323))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((8327, 10348), (8327, 10348))": {
+        "seg_desc": "Pour the water from the large white bottle to the blue mug.",
+        "seg_desc_zh": "将水从大的白色瓶倒到蓝色马克杯。"
+    },
+    "((10352, 10745), (10352, 10953))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((11221, 13303), (11569, 13423))": {
+        "seg_desc": "Stir in the blue mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..5819ff7197cda2a4f17d5725be16c26cd845cb5c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
@@ -0,0 +1,46 @@
+{
+    "((1239, 1815), None)": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "((2179, 2712), None)": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    },
+    "(None, (3236, 6743))": {
+        "seg_desc": "Scoop the salt with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将盐从碗舀到碟子。"
+    },
+    "(None, (7075, 7587))": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((7939, 8760), (7939, 8668))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((8760, 10075), (8852, 9937))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((10075, 11246), (10213, 10690))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (10750, 10966))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((12263, 13011), (12399, 12879))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((13011, 14056), (13143, 13992))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((14056, 14833), (14120, 14608))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..9201fa08d3b9ed877dd74b7fccb1c64645e78e5b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json
@@ -0,0 +1,54 @@
+{
+    "((1160, 2645), (1112, 2729))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((2829, 6213), (2729, 6213))": {
+        "seg_desc": "Pour the soup from the large white bottle to the bowl.",
+        "seg_desc_zh": "将汤从大的白色瓶倒到碗。"
+    },
+    "((7370, 9996), (6621, 10396))": {
+        "seg_desc": "Scrape the salt with the spoon from the plate to the bowl.",
+        "seg_desc_zh": "用调羹将盐从碟子刮到碗。"
+    },
+    "((10580, 12053), (10464, 11821))": {
+        "seg_desc": "Stir in the bowl with the spoon.",
+        "seg_desc_zh": "用调羹在碗中搅拌。"
+    },
+    "((12250, 13094), (12410, 12870))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (12946, 13266))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((13094, 13586), (13318, 13546))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((13863, 14139), (13863, 14599))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((14487, 15360), (14839, 15300))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((15852, 16308), (15924, 16096))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((18518, 19707), (18618, 19142))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((19911, 20047), (19375, 20047))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "((20391, 21060), (20415, 20856))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__2966d387c888ecca94d1__2023-04-16-10-23-13.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__2966d387c888ecca94d1__2023-04-16-10-23-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..87539776948d48afbd74a8b9c0831f5b3bb43d55
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__2966d387c888ecca94d1__2023-04-16-10-23-13.json
@@ -0,0 +1,10 @@
+{
+    "((1202, 3671), None)": {
+        "seg_desc": "Pour the content from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "将内容从灰绿色瓷瓶倒到碟子。"
+    },
+    "(None, (4152, 8767))": {
+        "seg_desc": "Grip the content with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到另一个碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..09a1537eda0344227872f990bee28b1e5d6ee9f2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json
@@ -0,0 +1,18 @@
+{
+    "((822, 1520), None)": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "(None, (1468, 4174))": {
+        "seg_desc": "Spread the seasonings on the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子上涂抹调味料。"
+    },
+    "((4234, 5651), None)": {
+        "seg_desc": "Hold the plate to the position.",
+        "seg_desc_zh": "用手抓握碟子并保持位置。"
+    },
+    "(None, (4686, 5523))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea55d1b5f0a3d83a01d6d4e5fd80163e775c848
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json
@@ -0,0 +1,62 @@
+{
+    "((1149, 1357), None)": {
+        "seg_desc": "Take the donut outside the plate.",
+        "seg_desc_zh": "将甜甜圈拿出碟子。"
+    },
+    "((1357, 1709), None)": {
+        "seg_desc": "Assemble the donut together.",
+        "seg_desc_zh": "将甜甜圈组装在一起。"
+    },
+    "((2166, 3363), None)": {
+        "seg_desc": "Rearrange the bread from one position to another position.",
+        "seg_desc_zh": "将面包从一个位置移动到另一个位置。"
+    },
+    "((3743, 5336), (2814, 5292))": {
+        "seg_desc": "Scoop the salt with the spoon from the bowl to the bread.",
+        "seg_desc_zh": "用调羹将盐从碗舀到面包。"
+    },
+    "((5588, 6085), None)": {
+        "seg_desc": "Assemble the bread together.",
+        "seg_desc_zh": "将面包组装在一起。"
+    },
+    "((6501, 7053), (6501, 7094))": {
+        "seg_desc": "Place the bread and the donut inside the plate.",
+        "seg_desc_zh": "将面包和甜甜圈放入碟子。"
+    },
+    "((7215, 8088), (7215, 7679))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (8697, 9145))": {
+        "seg_desc": "Rearrange the bowl from one position to another position.",
+        "seg_desc_zh": "将碗从一个位置移动到另一个位置。"
+    },
+    "((9021, 11595), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (9305, 10574))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((11915, 12560), (11823, 12468))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((13724, 14013), (13792, 14001))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((16262, 18068), (16318, 16831))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((18208, 18460), (16943, 18460))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((18620, 19192), (18620, 19060))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..75fc78fb5b5fded200ec951beb3c0f0ecabe4c70
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json
@@ -0,0 +1,18 @@
+{
+    "((1504, 4622), (1136, 4622))": {
+        "seg_desc": "Grip the content with the tongs from the fryingpan to the plate.",
+        "seg_desc_zh": "用夹子将内容从平底锅夹到碟子。"
+    },
+    "((4862, 5227), (4862, 5227))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((5427, 6237), (5575, 6047))": {
+        "seg_desc": "Rearrange the fryingpan from one position to another position.",
+        "seg_desc_zh": "将平底锅从一个位置移动到另一个位置。"
+    },
+    "((6237, 9934), (6427, 9834))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__380c72ff8a934cdb1877__2023-04-16-10-10-19.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__380c72ff8a934cdb1877__2023-04-16-10-10-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca9fa3963f0af555b37bc3b0e27282ad6bd48aea
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__380c72ff8a934cdb1877__2023-04-16-10-10-19.json
@@ -0,0 +1,18 @@
+{
+    "((1032, 2029), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2397, 2822))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "((3410, 3966), (3410, 3834))": {
+        "seg_desc": "Rearrange the yellow mug from one position to another position.",
+        "seg_desc_zh": "将黄色马克杯从一个位置移动到另一个位置。"
+    },
+    "((3966, 8594), (4098, 8450))": {
+        "seg_desc": "Scoop the content with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯舀到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..953088d86df186f831d4d2fb0656439e39d99562
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
@@ -0,0 +1,54 @@
+{
+    "((1178, 2655), (1178, 2663))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((3108, 5093), (2663, 5093))": {
+        "seg_desc": "Pour the water from the large white bottle to the green mug.",
+        "seg_desc_zh": "将水从大的白色瓶倒到绿色马克杯。"
+    },
+    "((5093, 5449), None)": {
+        "seg_desc": "Rearrange the green mug from one position to another position.",
+        "seg_desc_zh": "将绿色马克杯从一个位置移动到另一个位置。"
+    },
+    "((5605, 6348), (5750, 6194))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((6348, 7321), (6502, 7183))": {
+        "seg_desc": "Place the green mug inside the microwave oven.",
+        "seg_desc_zh": "将绿色马克杯放入微波炉。"
+    },
+    "((7321, 8347), (7459, 7819))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (7819, 8143))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((9720, 10619), (9897, 10521))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((10619, 11386), (10717, 11350))": {
+        "seg_desc": "Take the green mug outside the microwave oven.",
+        "seg_desc_zh": "将绿色马克杯拿出微波炉。"
+    },
+    "((11386, 12150), (11422, 11846))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (12571, 14612))": {
+        "seg_desc": "Scoop the sugar powders with the spoon from the bowl to the green mug.",
+        "seg_desc_zh": "用调羹将糖粉从碗舀到绿色马克杯。"
+    },
+    "(None, (14924, 15325))": {
+        "seg_desc": "Hold the rod to the position.",
+        "seg_desc_zh": "用手抓握搅拌棒并保持位置。"
+    },
+    "((16149, 18103), (15465, 17974))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f3234207928d455bf29a0a828540b5dac962c9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
@@ -0,0 +1,38 @@
+{
+    "((2925, 4223), (2925, 4679))": {
+        "seg_desc": "Take the orange cleaver knife and the apple outside the fryingpan.",
+        "seg_desc_zh": "将橙色菜刀和苹果拿出平底锅。"
+    },
+    "((4880, 5545), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (5852, 5956))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (6454, 6997))": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((8424, 9052), (8130, 9340))": {
+        "seg_desc": "Rearrange the plate and the apple from one position to another position.",
+        "seg_desc_zh": "将碟子和苹果从一个位置移动到另一个位置。"
+    },
+    "((10049, 10910), (9576, 11757))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "((10910, 11412), None)": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "(None, (11833, 12535))": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "(None, (12975, 18049))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到另一个碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..639007136bfc7170a7ff2da3bb844e03fdd7ff80
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json
@@ -0,0 +1,14 @@
+{
+    "((1380, 1952), None)": {
+        "seg_desc": "Place the yellow mug onto the platform of the scale.",
+        "seg_desc_zh": "将黄色马克杯放置于秤的平台上。"
+    },
+    "(None, (2476, 2697))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2917, 7256))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the yellow mug.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到黄色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c110b52ab3bd11fb078509b1f04aaf073b23faa
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json
@@ -0,0 +1,6 @@
+{
+    "((1794, 4376), (1202, 4304))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__4664f66e0c783b858b10__2023-04-15-10-35-58.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__4664f66e0c783b858b10__2023-04-15-10-35-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5eb367dbc2cb78d9a1d1ab4438b2f64ee9b3012
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__4664f66e0c783b858b10__2023-04-15-10-35-58.json
@@ -0,0 +1,6 @@
+{
+    "((1765, 3074), (933, 3991))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__49a8305e104d29e3816a__2023-04-15-09-41-56.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__49a8305e104d29e3816a__2023-04-15-09-41-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..01d3810751dcf08d047ddd4438875db05cd4a8e9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__49a8305e104d29e3816a__2023-04-15-09-41-56.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1428, 3045))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__4f2588329dcddda52337__2023-04-16-09-32-34.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__4f2588329dcddda52337__2023-04-16-09-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b43c8c52181570d9e035d8b8a09b9405bef895
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__4f2588329dcddda52337__2023-04-16-09-32-34.json
@@ -0,0 +1,6 @@
+{
+    "((2025, 3811), (1265, 3635))": {
+        "seg_desc": "Spread the content on the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子上涂抹内容。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..e54fedbde9dc58cd04a3ecd4ee8ae587d7a7d6fd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json
@@ -0,0 +1,30 @@
+{
+    "((1309, 2396), (1394, 2250))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((2396, 3565), (2542, 3287))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((3565, 4540), (3843, 4472))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((4540, 5008), (4608, 4792))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((6902, 7832), (7021, 7698))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((7832, 8659), (7966, 8619))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "((8659, 9319), (8699, 9155))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..6310c04c9b985623f0a5a26db05e09fa924cb500
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43.json
@@ -0,0 +1,14 @@
+{
+    "((1087, 1851), None)": {
+        "seg_desc": "Hold the bowl to the position.",
+        "seg_desc_zh": "用手抓握碗并保持位置。"
+    },
+    "((2059, 5850), (1775, 5870))": {
+        "seg_desc": "Scoop the content with the spoon from the yellow mug to the bowl.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯舀到碗。"
+    },
+    "((5982, 7723), (5870, 8096))": {
+        "seg_desc": "Scrape the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗刮到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b17f66c00c639a4ee839016a97c16ae225824e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26.json
@@ -0,0 +1,42 @@
+{
+    "((1422, 1871), (1767, 1959))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((1871, 2499), (1959, 2367))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((2499, 4058), (2631, 3828))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((4058, 5377), (4288, 4961))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (5193, 5289))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((6914, 7303), (7150, 7303))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((7303, 8616), (7863, 8616))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "((8616, 9584), (8860, 9584))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((9997, 12310), (11345, 12258))": {
+        "seg_desc": "Pour the content from the bowl to the plate.",
+        "seg_desc_zh": "将内容从碗倒到碟子。"
+    },
+    "(None, (10513, 11277))": {
+        "seg_desc": "Hold the plate to the position.",
+        "seg_desc_zh": "用手抓握碟子并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cbb8f65b5acb492724082e468fc93ddd826fb5a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json
@@ -0,0 +1,106 @@
+{
+    "((1502, 3859), (1829, 3859))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "((3859, 5612), (3859, 5252))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "((6181, 7197), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "(None, (6433, 7316))": {
+        "seg_desc": "Hold the orange cleaver knife to the position.",
+        "seg_desc_zh": "用手抓握橙色菜刀并保持位置。"
+    },
+    "(None, (7468, 8354))": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "((7664, 7966), None)": {
+        "seg_desc": "Rearrange the bread from one position to another position.",
+        "seg_desc_zh": "将面包从一个位置移动到另一个位置。"
+    },
+    "((8538, 10111), (8642, 9975))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "((10220, 10616), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "(None, (10560, 10892))": {
+        "seg_desc": "Assemble the apple into the product in the plate.",
+        "seg_desc_zh": "将苹果在碟子中组装到成品上。"
+    },
+    "((10892, 11633), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "((12309, 13310), (12145, 13045))": {
+        "seg_desc": "Assemble the apple and the donut into the product in the plate.",
+        "seg_desc_zh": "将苹果和甜甜圈在碟子中组装到成品上。"
+    },
+    "((13506, 16273), (13878, 16316))": {
+        "seg_desc": "Scoop the salt with the spoon from the blue mug to the plate.",
+        "seg_desc_zh": "用调羹将盐从蓝色马克杯舀到碟子。"
+    },
+    "(None, (16316, 16888))": {
+        "seg_desc": "Hold the spoon to the position.",
+        "seg_desc_zh": "用手抓握调羹并保持位置。"
+    },
+    "((16472, 18453), (17273, 18518))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((18734, 21989), (18670, 21989))": {
+        "seg_desc": "Scoop the mustard sauce with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将芥末酱从灰绿色瓷瓶舀到碟子。"
+    },
+    "(None, (21993, 22536))": {
+        "seg_desc": "Hold the spoon to the position.",
+        "seg_desc_zh": "用手抓握调羹并保持位置。"
+    },
+    "((22084, 22504), None)": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((22632, 25523), (22536, 25663))": {
+        "seg_desc": "Scoop the sugar with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将糖从黄色马克杯舀到碟子。"
+    },
+    "((25895, 28248), (25663, 28276))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗舀到碟子。"
+    },
+    "(None, (28276, 28802))": {
+        "seg_desc": "Spread the tomato sauce on the bread with the spoon.",
+        "seg_desc_zh": "用调羹在面包上涂抹番茄酱。"
+    },
+    "(None, (28802, 29461))": {
+        "seg_desc": "Place the spoon inside tool rack.",
+        "seg_desc_zh": "将调羹放入工具架。"
+    },
+    "((29661, 30006), None)": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((30194, 30303), None)": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((30774, 30930), None)": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((31140, 31239), None)": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((31707, 32351), (31707, 32351))": {
+        "seg_desc": "Rearrange the fork and the spoon from one position to another position.",
+        "seg_desc_zh": "将叉子和调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f455be423a9a74fa4b1a7263d9b05ae61930549a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
@@ -0,0 +1,94 @@
+{
+    "((1685, 2166), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "((2241, 3435), (2611, 4296))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "((3523, 4296), None)": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((4568, 5213), None)": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((6209, 7002), (6197, 6746))": {
+        "seg_desc": "Take the spoon outside the plate.",
+        "seg_desc_zh": "将调羹拿出碟子。"
+    },
+    "(None, (6826, 7807))": {
+        "seg_desc": "Hold the plate to the position.",
+        "seg_desc_zh": "用手抓握碟子并保持位置。"
+    },
+    "((7174, 7807), None)": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((8319, 8639), (8011, 8927))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((9324, 12342), (9060, 12622))": {
+        "seg_desc": "Scoop the cheese with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将芝士从灰绿色瓷瓶舀到碟子。"
+    },
+    "(None, (12986, 13399))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((13631, 14499), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (13883, 15032))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "(None, (15348, 15856))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (15932, 16061))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((16573, 17269), None)": {
+        "seg_desc": "Rearrange the yellow mug from one position to another position.",
+        "seg_desc_zh": "将黄色马克杯从一个位置移动到另一个位置。"
+    },
+    "((17558, 18106), None)": {
+        "seg_desc": "Rearrange the little green cup from one position to another position.",
+        "seg_desc_zh": "将绿色小茶杯从一个位置移动到另一个位置。"
+    },
+    "((18322, 19229), (18322, 19071))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((19229, 20196), (19387, 20120))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((20196, 20944), (20272, 20944))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((21440, 23714), (21685, 23766))": {
+        "seg_desc": "Scoop the salad sauce with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将沙拉酱从黄色马克杯舀到碟子。"
+    },
+    "((23958, 26324), (23766, 26540))": {
+        "seg_desc": "Scoop the salt with the spoon from the little green cup to the plate.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯舀到碟子。"
+    },
+    "(None, (26540, 27617))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((26824, 27617), None)": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..b58cbe300c6709f6dbb02c2694b5705c33d89e2e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54.json
@@ -0,0 +1,10 @@
+{
+    "((1362, 4472), (1041, 5193))": {
+        "seg_desc": "Scrape the content with the spoon from the fryingpan to the plate.",
+        "seg_desc_zh": "用调羹将内容从平底锅刮到碟子。"
+    },
+    "((5433, 6089), (5433, 6089))": {
+        "seg_desc": "Rearrange the fork and the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将叉子和白色水果刀从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5da24047ae42adea82f3__2023-04-15-09-40-46.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5da24047ae42adea82f3__2023-04-15-09-40-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..db350263baf3ac136bdd6940cc347fecf8fb5fd1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5da24047ae42adea82f3__2023-04-15-09-40-46.json
@@ -0,0 +1,6 @@
+{
+    "((926, 2183), (1255, 2031))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..23806870cf33a121480be00b21adfd8ff5f5b468
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json
@@ -0,0 +1,74 @@
+{
+    "((1185, 2051), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2574, 2708))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (3406, 4326))": {
+        "seg_desc": "Take the pear outside the fryingpan.",
+        "seg_desc_zh": "将梨拿出平底锅。"
+    },
+    "((3621, 4326), None)": {
+        "seg_desc": "Take the apple outside the fryingpan.",
+        "seg_desc_zh": "将苹果拿出平底锅。"
+    },
+    "(None, (4326, 4807))": {
+        "seg_desc": "Place the pear inside the plate.",
+        "seg_desc_zh": "将梨放入碟子。"
+    },
+    "(None, (5408, 5900))": {
+        "seg_desc": "Take the pear outside the plate.",
+        "seg_desc_zh": "将梨拿出碟子。"
+    },
+    "(None, (6205, 6723))": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "(None, (7227, 7721))": {
+        "seg_desc": "Take the apple outside the plate.",
+        "seg_desc_zh": "将苹果拿出碟子。"
+    },
+    "((7886, 8581), None)": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((9723, 10806), (8987, 10874))": {
+        "seg_desc": "Cut the pear with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切梨。"
+    },
+    "((11094, 11490), (10874, 12105))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "((12387, 12607), None)": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((12843, 13152), None)": {
+        "seg_desc": "Place the apple inside the plate.",
+        "seg_desc_zh": "将苹果放入碟子。"
+    },
+    "((13361, 13854), None)": {
+        "seg_desc": "Place the pear inside the plate.",
+        "seg_desc_zh": "将梨放入碟子。"
+    },
+    "(None, (13491, 14182))": {
+        "seg_desc": "Place the pear inside the plate.",
+        "seg_desc_zh": "将梨放入碟子。"
+    },
+    "((13982, 14270), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "(None, (14655, 18261))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到另一个碟子。"
+    },
+    "((18661, 19386), (18661, 19386))": {
+        "seg_desc": "Rearrange the white fruit knife and the fork from one position to another position.",
+        "seg_desc_zh": "将白色水果刀和叉子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5fef04b7c444d30af102__2023-04-16-09-41-41.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5fef04b7c444d30af102__2023-04-16-09-41-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..790e40d740426d083b4f8a36b07e362646f6ec83
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__5fef04b7c444d30af102__2023-04-16-09-41-41.json
@@ -0,0 +1,14 @@
+{
+    "(None, (905, 5260))": {
+        "seg_desc": "Grip the content with the tongs from the bowl to the plate.",
+        "seg_desc_zh": "用夹子将内容从碗夹到碟子。"
+    },
+    "((5837, 9465), (5653, 9375))": {
+        "seg_desc": "Scoop the content with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯舀到碟子。"
+    },
+    "((9465, 9912), (9555, 9884))": {
+        "seg_desc": "Rearrange the yellow mug from one position to another position.",
+        "seg_desc_zh": "将黄色马克杯从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__716692d2a096271f0219__2023-04-15-09-50-17.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__716692d2a096271f0219__2023-04-15-09-50-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..73dbdd4d6e5144d2331acba53d5804189d61e028
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__716692d2a096271f0219__2023-04-15-09-50-17.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1132, 4286))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the yellow mug.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到黄色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2833a8114bc72ddef3007f3553e98771670b7a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json
@@ -0,0 +1,10 @@
+{
+    "((974, 3924), (1595, 3832))": {
+        "seg_desc": "Pour the content from the green striped bottle to the green mug.",
+        "seg_desc_zh": "将内容从绿色条纹瓶倒到绿色马克杯。"
+    },
+    "((3924, 7975), (4113, 7503))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..b518632bbaea8e03fdb8000aa653e358ca38c990
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json
@@ -0,0 +1,14 @@
+{
+    "((867, 1472), None)": {
+        "seg_desc": "Place the bowl onto the platform of the scale.",
+        "seg_desc_zh": "将碗放置于秤的平台上。"
+    },
+    "(None, (1544, 1860))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2264, 5847))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..788744967ed06423689abfc74b33cd8641f43fa6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json
@@ -0,0 +1,42 @@
+{
+    "((1618, 4742), (2324, 5210))": {
+        "seg_desc": "Scrape the salt with the spoon from the little green cup to the green mug.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯刮到绿色马克杯。"
+    },
+    "((5514, 8044), (5690, 8440))": {
+        "seg_desc": "Scrape the sugar with the spoon from the yellow mug to the green mug.",
+        "seg_desc_zh": "用调羹将糖从黄色马克杯刮到绿色马克杯。"
+    },
+    "((9521, 9973), (9121, 10818))": {
+        "seg_desc": "Pour the juice powder from the bowl to the green mug.",
+        "seg_desc_zh": "将果汁粉从碗倒到绿色马克杯。"
+    },
+    "((10310, 10970), None)": {
+        "seg_desc": "Hold the green mug to the position.",
+        "seg_desc_zh": "用手抓握绿色马克杯并保持位置。"
+    },
+    "((11703, 12243), (11278, 12259))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((12403, 12679), (12303, 12835))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((13012, 13936), (13127, 13936))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((13940, 15337), (13940, 15337))": {
+        "seg_desc": "Pour the water from the large white bottle to the green mug.",
+        "seg_desc_zh": "将水从大的白色瓶倒到绿色马克杯。"
+    },
+    "((15341, 16154), (15341, 16414))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((16770, 18416), None)": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..918e7c0d01457cebc49fbf15634e6f69206ade0e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1250, 3736))": {
+        "seg_desc": "Stir in the yellow mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在黄色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__783bd4550274783193c3__2023-04-15-09-58-39.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__783bd4550274783193c3__2023-04-15-09-58-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca913ff4ab56d2450565d32eef84f9d4160d656
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__783bd4550274783193c3__2023-04-15-09-58-39.json
@@ -0,0 +1,10 @@
+{
+    "(None, (952, 2077))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((2434, 3186), None)": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f21adffaa198e398e0a0fc551dbcbbfeeaf1322
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json
@@ -0,0 +1,6 @@
+{
+    "((1119, 2156), (1248, 1972))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ed19f930a0c100c4cbd1ef9b2507fc93fdc2fb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json
@@ -0,0 +1,130 @@
+{
+    "((1355, 1999), None)": {
+        "seg_desc": "Place the fork inside tool rack.",
+        "seg_desc_zh": "将叉子放入工具架。"
+    },
+    "((3012, 3189), None)": {
+        "seg_desc": "Hold the fryingpan to the position.",
+        "seg_desc_zh": "用手抓握平底锅并保持位置。"
+    },
+    "((3708, 4653), None)": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "(None, (2491, 9096))": {
+        "seg_desc": "Grip the large cube residues with the tongs from the fryingpan to the plate.",
+        "seg_desc_zh": "用夹子将大的方块残余物从平底锅夹到碟子。"
+    },
+    "(None, (9276, 9589))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((9393, 10874), None)": {
+        "seg_desc": "Hold the fryingpan to the position.",
+        "seg_desc_zh": "用手抓握平底锅并保持位置。"
+    },
+    "(None, (10002, 10850))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((10890, 14044), (11135, 13796))": {
+        "seg_desc": "Scrape the liquid residues with the spoon from the fryingpan to the plate.",
+        "seg_desc_zh": "用调羹将液体残余物从平底锅刮到碟子。"
+    },
+    "((14416, 14942), (14372, 14928))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((14942, 16602), (14942, 16602))": {
+        "seg_desc": "Pour the clean water from the large black and yellow striped bottle to the fryingpan.",
+        "seg_desc_zh": "将干净的水从大的黑黄条纹瓶倒到平底锅。"
+    },
+    "((16606, 17606), (16606, 17606))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((17803, 18759), (18007, 18759))": {
+        "seg_desc": "Unscrew the cap of the blue striped bottle.",
+        "seg_desc_zh": "拧开蓝色条纹瓶的盖子。"
+    },
+    "((18763, 19588), (18763, 19588))": {
+        "seg_desc": "Pour the detergents from the blue striped bottle to the fryingpan.",
+        "seg_desc_zh": "将洗洁精从蓝色条纹瓶倒到平底锅。"
+    },
+    "((19592, 20985), (19592, 20721))": {
+        "seg_desc": "Screw the cap onto the blue striped bottle.",
+        "seg_desc_zh": "拧紧蓝色条纹瓶的盖子。"
+    },
+    "((21341, 21649), None)": {
+        "seg_desc": "Hold the fryingpan to the position.",
+        "seg_desc_zh": "用手抓握平底锅并保持位置。"
+    },
+    "(None, (21405, 21906))": {
+        "seg_desc": "Hold the spoon to the position.",
+        "seg_desc_zh": "用手抓握调羹并保持位置。"
+    },
+    "((21777, 22374), None)": {
+        "seg_desc": "Hold the sponge to the position.",
+        "seg_desc_zh": "用手抓握海绵并保持位置。"
+    },
+    "(None, (22290, 22566))": {
+        "seg_desc": "Hold the sponge to the position.",
+        "seg_desc_zh": "用手抓握海绵并保持位置。"
+    },
+    "((22566, 22710), None)": {
+        "seg_desc": "Hold the sponge to the position.",
+        "seg_desc_zh": "用手抓握海绵并保持位置。"
+    },
+    "((22890, 26173), (22710, 26362))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    },
+    "((26337, 26673), None)": {
+        "seg_desc": "Hold the sponge to the position.",
+        "seg_desc_zh": "用手抓握海绵并保持位置。"
+    },
+    "((27321, 28904), (26789, 28638))": {
+        "seg_desc": "Scrape the detergent residues with the spoon from the fryingpan to the plate.",
+        "seg_desc_zh": "用调羹将残留的洗洁精从平底锅刮到碟子。"
+    },
+    "((29159, 29363), (29119, 29363))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((29367, 30640), (29367, 30640))": {
+        "seg_desc": "Pour the clean water from the large black and yellow striped bottle to the fryingpan.",
+        "seg_desc_zh": "将干净的水从大的黑黄条纹瓶倒到平底锅。"
+    },
+    "((30640, 31633), (30640, 31629))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((31818, 33166), (31958, 33166))": {
+        "seg_desc": "Spread the water on the fryingpan with the spoon.",
+        "seg_desc_zh": "用调羹在平底锅上涂抹水。"
+    },
+    "((33170, 34947), (33170, 34419))": {
+        "seg_desc": "Scrape the water remnants with the spoon from the fryingpan to the plate.",
+        "seg_desc_zh": "用调羹将残留的水从平底锅刮到碟子。"
+    },
+    "((35179, 35776), (35179, 35880))": {
+        "seg_desc": "Rearrange the plate and another plate from one position to another position.",
+        "seg_desc_zh": "将碟子和另一个碟子从一个位置移动到另一个位置。"
+    },
+    "((36136, 36492), (36192, 36348))": {
+        "seg_desc": "Screw the cap onto the blue striped bottle.",
+        "seg_desc_zh": "拧紧蓝色条纹瓶的盖子。"
+    },
+    "(None, (36457, 36504))": {
+        "seg_desc": "Hold the blue striped bottle to the position.",
+        "seg_desc_zh": "用手抓握蓝色条纹瓶并保持位置。"
+    },
+    "((36680, 36836), (36692, 36836))": {
+        "seg_desc": "Hold the large black and yellow striped bottle to the position.",
+        "seg_desc_zh": "用手抓握大的黑黄条纹瓶并保持位置。"
+    },
+    "((37077, 37511), None)": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..508896cb8428391b5ca0f33a8e515cecbc22d250
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json
@@ -0,0 +1,26 @@
+{
+    "((1095, 5522), (1955, 5346))": {
+        "seg_desc": "Scoop the content with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯舀到碟子。"
+    },
+    "((5522, 6323), (5698, 6323))": {
+        "seg_desc": "Rearrange the yellow mug and the spoon from one position to another position.",
+        "seg_desc_zh": "将黄色马克杯和调羹从一个位置移动到另一个位置。"
+    },
+    "((7219, 7956), (6495, 7872))": {
+        "seg_desc": "Unscrew the cap of the blue striped bottle.",
+        "seg_desc_zh": "拧开蓝色条纹瓶的盖子。"
+    },
+    "(None, (7872, 9293))": {
+        "seg_desc": "Pour the content from the blue striped bottle to the plate.",
+        "seg_desc_zh": "将内容从蓝色条纹瓶倒到碟子。"
+    },
+    "(None, (9297, 11755))": {
+        "seg_desc": "Screw the cap onto the blue striped bottle.",
+        "seg_desc_zh": "拧紧蓝色条纹瓶的盖子。"
+    },
+    "(None, (12103, 12655))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..a31e7586e1eec9deb443551ad1da394a07e1a347
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json
@@ -0,0 +1,10 @@
+{
+    "((1114, 3608), (2291, 3608))": {
+        "seg_desc": "Pour the content from the bowl to the fryingpan.",
+        "seg_desc_zh": "将内容从碗倒到平底锅。"
+    },
+    "(None, (4053, 5874))": {
+        "seg_desc": "Spread the content on the bread with the spoon.",
+        "seg_desc_zh": "用调羹在面包上涂抹内容。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__83207950cb49bb1c3aca__2023-04-16-10-57-12.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__83207950cb49bb1c3aca__2023-04-16-10-57-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ff089334d45ddd9c90c0d4eba1a8c5863d0b7b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__83207950cb49bb1c3aca__2023-04-16-10-57-12.json
@@ -0,0 +1,14 @@
+{
+    "((1003, 1551), None)": {
+        "seg_desc": "Place the yellow mug onto the platform of the scale.",
+        "seg_desc_zh": "将黄色马克杯放置于秤的平台上。"
+    },
+    "(None, (1743, 2056))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2464, 5226))": {
+        "seg_desc": "Pour the content from the green striped bottle to the yellow mug.",
+        "seg_desc_zh": "将内容从绿色条纹瓶倒到黄色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..0283363ec56c90930fa5370ffbb88d4f95dca712
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
@@ -0,0 +1,54 @@
+{
+    "((1411, 3448), None)": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    },
+    "((3612, 3985), (1939, 3985))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((4149, 6550), (4149, 6478))": {
+        "seg_desc": "Scrape the tea powder with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将茶粉从灰绿色瓷瓶刮到碗。"
+    },
+    "(None, (6658, 7251))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((8192, 9192), (7839, 9164))": {
+        "seg_desc": "Pour the fruit juice from the orange mug to the bowl.",
+        "seg_desc_zh": "将果汁从橙色马克杯倒到碗。"
+    },
+    "((9757, 10165), (9444, 10165))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((10165, 12307), (10165, 12307))": {
+        "seg_desc": "Pour the milk from the large black and yellow striped bottle to the bowl.",
+        "seg_desc_zh": "将牛奶从大的黑黄条纹瓶倒到碗。"
+    },
+    "((12307, 12883), (12307, 13115))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((13287, 13555), None)": {
+        "seg_desc": "Hold the spoon to the position.",
+        "seg_desc_zh": "用手抓握调羹并保持位置。"
+    },
+    "((13656, 15016), (13511, 15025))": {
+        "seg_desc": "Scoop the salt with the spoon from the little green cup to the bowl.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯舀到碗。"
+    },
+    "((15265, 16930), (15029, 16966))": {
+        "seg_desc": "Scrape the honey with the spoon from the plate to the bowl.",
+        "seg_desc_zh": "用调羹将蜂蜜从碟子刮到碗。"
+    },
+    "((17046, 17775), (16970, 17943))": {
+        "seg_desc": "Stir in the bowl with the spoon.",
+        "seg_desc_zh": "用调羹在碗中搅拌。"
+    },
+    "((17863, 18399), None)": {
+        "seg_desc": "Place the spoon inside tool rack.",
+        "seg_desc_zh": "将调羹放入工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..a31a768ef9033b4cf85e331a44c134f3efd3d996
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json
@@ -0,0 +1,6 @@
+{
+    "((1277, 3683), (1185, 3635))": {
+        "seg_desc": "Unscrew the cap of the green striped bottle.",
+        "seg_desc_zh": "拧开绿色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b57285a0c6a5e305b0b1f698f95f5ebb97dd02a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
@@ -0,0 +1,42 @@
+{
+    "((1544, 2273), (2044, 2273))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((2273, 2525), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((2525, 4294), (2753, 4130))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((4294, 5185), (4458, 5063))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((5185, 5627), (5307, 5519))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (7616, 7901))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((7616, 8065), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((8065, 9211), (8229, 9129))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((9211, 9994), (9294, 9982))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (10667, 11127))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c1b0e55b80dbc83e035fe47bb8d2ed53e343f5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json
@@ -0,0 +1,10 @@
+{
+    "((878, 2323), (1266, 2275))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((2659, 3416), (2756, 3320))": {
+        "seg_desc": "Hold the gray-green porcelain bottle to the position.",
+        "seg_desc_zh": "用手抓握灰绿色瓷瓶并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab96d145e01a401103d4c9afa814492d4a6ddc3f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json
@@ -0,0 +1,10 @@
+{
+    "((944, 3234), (1220, 3234))": {
+        "seg_desc": "Pour the content from the fryingpan to the bowl.",
+        "seg_desc_zh": "将内容从平底锅倒到碗。"
+    },
+    "(None, (3663, 4531))": {
+        "seg_desc": "Place the spoon inside the bowl.",
+        "seg_desc_zh": "将调羹放入碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__916da2456e9042c18107__2023-04-16-10-53-20.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__916da2456e9042c18107__2023-04-16-10-53-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b1922f5b192012dbc20fd40de86b3c1311bd76
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__916da2456e9042c18107__2023-04-16-10-53-20.json
@@ -0,0 +1,14 @@
+{
+    "((984, 2769), (1056, 2769))": {
+        "seg_desc": "Scoop the content with the fryingpan from the fryingpan to the plate.",
+        "seg_desc_zh": "用平底锅将内容从平底锅舀到碟子。"
+    },
+    "((2957, 3490), (2957, 3490))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((3826, 6580), (3826, 6384))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..be11d0c8d28e653567d26b0200c5948d5137831a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
@@ -0,0 +1,50 @@
+{
+    "((1010, 3092), (1455, 3092))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "((3096, 3487), (3096, 3587))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "((3652, 4224), (3591, 4473))": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "((4473, 4858), None)": {
+        "seg_desc": "Rearrange the bread from one position to another position.",
+        "seg_desc_zh": "将面包从一个位置移动到另一个位置。"
+    },
+    "((5902, 8684), (5466, 8712))": {
+        "seg_desc": "Scoop the sugar with the spoon from the yellow mug to the plate.",
+        "seg_desc_zh": "用调羹将糖从黄色马克杯舀到碟子。"
+    },
+    "((8972, 12202), (8717, 12323))": {
+        "seg_desc": "Scoop the tomato sauce with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将番茄酱从碗舀到碟子。"
+    },
+    "(None, (12323, 13419))": {
+        "seg_desc": "Spread the tomato sauce and sugar on the bread with the spoon.",
+        "seg_desc_zh": "用调羹在面包上涂抹番茄酱和糖。"
+    },
+    "(None, (13419, 13841))": {
+        "seg_desc": "Place the spoon inside tool rack.",
+        "seg_desc_zh": "将调羹放入工具架。"
+    },
+    "((13531, 14229), None)": {
+        "seg_desc": "Hold the bread to the position.",
+        "seg_desc_zh": "用手抓握面包并保持位置。"
+    },
+    "(None, (14144, 14605))": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((14904, 15357), (14904, 15357))": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "((15593, 16380), (15557, 16677))": {
+        "seg_desc": "Take the fork and the spoon outside tool rack.",
+        "seg_desc_zh": "将叉子和调羹拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..64dd07fd877b342e4b47226cb8129ca2d1c7803c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
@@ -0,0 +1,58 @@
+{
+    "((1511, 2200), None)": {
+        "seg_desc": "Hold the gray-green porcelain bottle to the position.",
+        "seg_desc_zh": "用手抓握灰绿色瓷瓶并保持位置。"
+    },
+    "((2200, 2591), (1786, 2703))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((2703, 2963), (2703, 3105))": {
+        "seg_desc": "Hold the gray-green porcelain bottle to the position.",
+        "seg_desc_zh": "用手抓握灰绿色瓷瓶并保持位置。"
+    },
+    "((3247, 4893), (3105, 5217))": {
+        "seg_desc": "Scrape the tea powder with the spoon from the gray-green porcelain bottle to the blue mug.",
+        "seg_desc_zh": "用调羹将茶粉从灰绿色瓷瓶刮到蓝色马克杯。"
+    },
+    "((5549, 6207), (5217, 6207))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "(None, (6618, 7809))": {
+        "seg_desc": "Pour the juice from the orange mug to the blue mug.",
+        "seg_desc_zh": "将果汁从橙色马克杯倒到蓝色马克杯。"
+    },
+    "((8306, 9078), (7953, 9078))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((9082, 10203), (9082, 10203))": {
+        "seg_desc": "Pour the milk from the large black and yellow striped bottle to the blue mug.",
+        "seg_desc_zh": "将牛奶从大的黑黄条纹瓶倒到蓝色马克杯。"
+    },
+    "((10211, 11055), (10211, 11448))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((11720, 12350), None)": {
+        "seg_desc": "Rearrange the rod from one position to another position.",
+        "seg_desc_zh": "将搅拌棒从一个位置移动到另一个位置。"
+    },
+    "((12508, 12789), None)": {
+        "seg_desc": "Hold the fork to the position.",
+        "seg_desc_zh": "用手抓握叉子并保持位置。"
+    },
+    "((12970, 13900), (13403, 13923))": {
+        "seg_desc": "Stir in the blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色马克杯中搅拌。"
+    },
+    "((13900, 15488), (14211, 15388))": {
+        "seg_desc": "Scrape the salt with the spoon from the little green cup to the blue mug.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯刮到蓝色马克杯。"
+    },
+    "((15492, 16801), (15492, 16801))": {
+        "seg_desc": "Stir in the blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..31803f0b5afc26cb5ced8e61d974cb9f1d65f61f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47.json
@@ -0,0 +1,38 @@
+{
+    "((1185, 2190), (1646, 2114))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((2190, 3631), (2266, 3523))": {
+        "seg_desc": "Place the green mug inside the microwave oven.",
+        "seg_desc_zh": "将绿色马克杯放入微波炉。"
+    },
+    "((3631, 4324), (3739, 4324))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((4324, 5088), (4620, 5088))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((6914, 7365), (7166, 7365))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((7365, 7770), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((7770, 9365), (7938, 9123))": {
+        "seg_desc": "Take the green mug outside the microwave oven.",
+        "seg_desc_zh": "将绿色马克杯拿出微波炉。"
+    },
+    "((9365, 10160), (9607, 10160))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((11689, 12990), (10487, 13746))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..d782aeea1ae885916a66809b1fbf3b2c80a8c22c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json
@@ -0,0 +1,18 @@
+{
+    "((1909, 4495), (1361, 4427))": {
+        "seg_desc": "Stir in the bowl with the rod.",
+        "seg_desc_zh": "用搅拌棒在碗中搅拌。"
+    },
+    "((4495, 5492), None)": {
+        "seg_desc": "Hold the bowl to the position.",
+        "seg_desc_zh": "用手抓握碗并保持位置。"
+    },
+    "(None, (4839, 5516))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((5904, 6645), (5904, 6645))": {
+        "seg_desc": "Rearrange the fork and the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将叉子和白色水果刀从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9b00499d20173000984b__2023-04-18-09-29-31.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9b00499d20173000984b__2023-04-18-09-29-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..befeae77f65cb5f7ae83702ba68fb21c4b271348
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9b00499d20173000984b__2023-04-18-09-29-31.json
@@ -0,0 +1,10 @@
+{
+    "((1031, 1711), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "((3248, 3468), (2296, 7207))": {
+        "seg_desc": "Grip the content with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到另一个碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9b728ad5953bf2f06798__2023-04-16-09-33-47.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9b728ad5953bf2f06798__2023-04-16-09-33-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..2734a013135ef19b7fa8b2c5ef76ddd7c1b8efe5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9b728ad5953bf2f06798__2023-04-16-09-33-47.json
@@ -0,0 +1,6 @@
+{
+    "((1822, 3711), (1153, 3579))": {
+        "seg_desc": "Spread the content on the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子上涂抹内容。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..85955684adc7dfb4e8d9b2d4497ef67e49ea4b73
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59.json
@@ -0,0 +1,10 @@
+{
+    "((1046, 1592), None)": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((2294, 4871), (2029, 5268))": {
+        "seg_desc": "Scrape the content with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶刮到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9d4bff431d87a704ec42__2023-04-15-09-28-44.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9d4bff431d87a704ec42__2023-04-15-09-28-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..d056de7bfb8d995c09148a81127bc8e8b60fdde2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9d4bff431d87a704ec42__2023-04-15-09-28-44.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1082, 3488))": {
+        "seg_desc": "Pour the content from the orange mug to the bowl.",
+        "seg_desc_zh": "将内容从橙色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c40d34277cec0c7e6ff073bd725f128eed0725
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json
@@ -0,0 +1,50 @@
+{
+    "(None, (1413, 2073))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "(None, (2385, 3102))": {
+        "seg_desc": "Place the donut inside the plate.",
+        "seg_desc_zh": "将甜甜圈放入碟子。"
+    },
+    "(None, (3566, 5700))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((3971, 4795), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (6436, 7157))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (7681, 7749))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (9450, 10335))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (10755, 11716))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "(None, (11788, 12389))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((13658, 17256), (13930, 17789))": {
+        "seg_desc": "Scoop the sauces with the spoon from the yellow mug to the donut.",
+        "seg_desc_zh": "用调羹将酱汁从黄色马克杯舀到甜甜圈。"
+    },
+    "((18609, 19874), None)": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    },
+    "(None, (18609, 19618))": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e9df3a950fd46c206c3456d16e823271abe8478
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11.json
@@ -0,0 +1,6 @@
+{
+    "((2077, 3654), (1221, 4131))": {
+        "seg_desc": "Stir in the yellow mug with the spoon.",
+        "seg_desc_zh": "用调羹在黄色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3f4c3e904247ed9bfbfde17ed6457b1d326feea
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json
@@ -0,0 +1,18 @@
+{
+    "((2002, 5144), (1141, 6473))": {
+        "seg_desc": "Grip the sugar cubes with the tongs from the fryingpan to the bowl.",
+        "seg_desc_zh": "用夹子将糖块从平底锅夹到碗。"
+    },
+    "((5460, 5809), None)": {
+        "seg_desc": "Rearrange the bowl from one position to another position.",
+        "seg_desc_zh": "将碗从一个位置移动到另一个位置。"
+    },
+    "((6005, 6453), None)": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((7202, 9387), (6789, 9856))": {
+        "seg_desc": "Scrape the dish with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将菜肴从碗刮到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cef43ac832a1652eef3d1a3c324c12f5cf8ca3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1057, 5424))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗舀到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a5de2b93822f3b229140__2023-04-15-10-41-00.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a5de2b93822f3b229140__2023-04-15-10-41-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3337258f253792a51e2e8a62e6f31ab8fb1ba8c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a5de2b93822f3b229140__2023-04-15-10-41-00.json
@@ -0,0 +1,6 @@
+{
+    "((1678, 3499), (993, 4015))": {
+        "seg_desc": "Cut the pear with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切梨。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c11b938616c32be253da54f97fba0589ce5fec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json
@@ -0,0 +1,66 @@
+{
+    "((1509, 5204), (1925, 5560))": {
+        "seg_desc": "Scoop the cheese with the spoon from the blue cup to the donut.",
+        "seg_desc_zh": "用调羹将芝士从蓝色茶杯舀到甜甜圈。"
+    },
+    "((6056, 6322), None)": {
+        "seg_desc": "Hold the microwave oven to the position.",
+        "seg_desc_zh": "用手抓握微波炉并保持位置。"
+    },
+    "(None, (6092, 6248))": {
+        "seg_desc": "Rearrange the little green cup from one position to another position.",
+        "seg_desc_zh": "将绿色小茶杯从一个位置移动到另一个位置。"
+    },
+    "((6322, 7025), (6396, 6909))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (7193, 7849))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "(None, (8594, 9258))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (9359, 9455))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (10704, 10944))": {
+        "seg_desc": "Rearrange the blue cup from one position to another position.",
+        "seg_desc_zh": "将蓝色茶杯从一个位置移动到另一个位置。"
+    },
+    "((11532, 12613), None)": {
+        "seg_desc": "Rearrange the little green cup from one position to another position.",
+        "seg_desc_zh": "将绿色小茶杯从一个位置移动到另一个位置。"
+    },
+    "((12969, 13534), None)": {
+        "seg_desc": "Rearrange the bowl from one position to another position.",
+        "seg_desc_zh": "将碗从一个位置移动到另一个位置。"
+    },
+    "((13946, 14686), (13890, 14506))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((14686, 15691), (14867, 15607))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((15691, 16456), (15775, 16372))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((16732, 19599), (17270, 19644))": {
+        "seg_desc": "Scoop the tomato sauce with the spoon from the bowl to the donut.",
+        "seg_desc_zh": "用调羹将番茄酱从碗舀到甜甜圈。"
+    },
+    "(None, (19644, 20708))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((19959, 20520), None)": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..b770d0eee352c13da97d471064bd63e8d494fd34
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json
@@ -0,0 +1,10 @@
+{
+    "((985, 1821), None)": {
+        "seg_desc": "Assemble the donut together.",
+        "seg_desc_zh": "将甜甜圈组装在一起。"
+    },
+    "((2110, 2834), None)": {
+        "seg_desc": "Assemble the bread together.",
+        "seg_desc_zh": "将面包组装在一起。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5f48b984836fd5bd877a2fce99426dafa3bc4f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json
@@ -0,0 +1,14 @@
+{
+    "((1008, 4490), (1796, 4402))": {
+        "seg_desc": "Cut the pear with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切梨。"
+    },
+    "((4490, 5279), (4578, 5279))": {
+        "seg_desc": "Rearrange the pear from one position to another position.",
+        "seg_desc_zh": "将梨从一个位置移动到另一个位置。"
+    },
+    "(None, (5799, 10158))": {
+        "seg_desc": "Grip the seasonings with the tongs from the bowl to the plate.",
+        "seg_desc_zh": "用夹子将调味料从碗夹到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b20638758c37e9f0301c__2023-04-16-09-51-09.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b20638758c37e9f0301c__2023-04-16-09-51-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9291f6a0fba90a7415ea3eb585a86283320717b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b20638758c37e9f0301c__2023-04-16-09-51-09.json
@@ -0,0 +1,18 @@
+{
+    "((1273, 7051), (2134, 6957))": {
+        "seg_desc": "Scoop the content with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶舀到碗。"
+    },
+    "((7051, 7542), (7145, 7542))": {
+        "seg_desc": "Rearrange the gray-green porcelain bottle from one position to another position.",
+        "seg_desc_zh": "将灰绿色瓷瓶从一个位置移动到另一个位置。"
+    },
+    "((7778, 9163), None)": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    },
+    "(None, (7778, 9163))": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99175b0ba40a417cce41af752693551877cf927
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json
@@ -0,0 +1,14 @@
+{
+    "((1725, 5087), (1208, 5087))": {
+        "seg_desc": "Grip the sugar cubes with the tongs from the fryingpan to the bowl.",
+        "seg_desc_zh": "用夹子将糖块从平底锅夹到碗。"
+    },
+    "(None, (5447, 6304))": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    },
+    "((5447, 6304), None)": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c401b7614eae1a273c5b3dc2fac974ee7c9c5a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50.json
@@ -0,0 +1,34 @@
+{
+    "((1295, 2887), (1599, 1839))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (2300, 3292))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((3356, 4397), (3809, 3957))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (4249, 4317))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((5802, 7131), (5902, 6403))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (6667, 7984))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "((7195, 7712), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((7940, 9441), (7996, 9441))": {
+        "seg_desc": "Pour the content from the bowl to the plate.",
+        "seg_desc_zh": "将内容从碗倒到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e858849272dc84756c095d6736f2b0c67861c66
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json
@@ -0,0 +1,6 @@
+{
+    "((1207, 4397), (1079, 4397))": {
+        "seg_desc": "Pour the content from the porcelain teapot to the little green cup.",
+        "seg_desc_zh": "将内容从瓷茶壶倒到绿色小茶杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..a88256b85c3b090b7df103de4be2ab2382474466
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13.json
@@ -0,0 +1,10 @@
+{
+    "((1043, 2629), (1336, 2601))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((2633, 5695), (2853, 5695))": {
+        "seg_desc": "Pour the content from the large black and yellow striped bottle to the plate.",
+        "seg_desc_zh": "将内容从大的黑黄条纹瓶倒到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d087cebf97afbc68c62dfee002e25314d9f4578
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
@@ -0,0 +1,50 @@
+{
+    "((1643, 2195), None)": {
+        "seg_desc": "Hold the gray-green porcelain bottle to the position.",
+        "seg_desc_zh": "用手抓握灰绿色瓷瓶并保持位置。"
+    },
+    "((2319, 2659), (1943, 2695))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((2960, 4849), (2699, 5017))": {
+        "seg_desc": "Scrape the tea powder with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将茶粉从灰绿色瓷瓶刮到碗。"
+    },
+    "((5105, 5629), (5017, 5629))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((6090, 6590), None)": {
+        "seg_desc": "Rearrange the pear from one position to another position.",
+        "seg_desc_zh": "将梨从一个位置移动到另一个位置。"
+    },
+    "((6674, 7515), (6542, 8291))": {
+        "seg_desc": "Cut the pear with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切梨。"
+    },
+    "((7643, 8536), None)": {
+        "seg_desc": "Place the pear inside the bowl.",
+        "seg_desc_zh": "将梨放入碗。"
+    },
+    "((9196, 11318), (9196, 11318))": {
+        "seg_desc": "Scrape the fruit jam with the spoon from the blue cup to the bowl.",
+        "seg_desc_zh": "用调羹将果酱从蓝色茶杯刮到碗。"
+    },
+    "((11806, 12622), (11550, 12622))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((12622, 13611), (12622, 13611))": {
+        "seg_desc": "Pour the milk from the large black and yellow striped bottle to the bowl.",
+        "seg_desc_zh": "将牛奶从大的黑黄条纹瓶倒到碗。"
+    },
+    "((13611, 14332), (13611, 14884))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "(None, (15040, 15437))": {
+        "seg_desc": "Rearrange the pear from one position to another position.",
+        "seg_desc_zh": "将梨从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6996168ebbf44880a4997e588082dc813e3cd9f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
@@ -0,0 +1,50 @@
+{
+    "((1326, 1726), None)": {
+        "seg_desc": "Place the donut inside the plate.",
+        "seg_desc_zh": "将甜甜圈放入碟子。"
+    },
+    "((2138, 2951), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (2430, 3559))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "(None, (4052, 4916))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (5184, 5252))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((5953, 7658), (6990, 7658))": {
+        "seg_desc": "Rearrange the little green cup and the spoon from one position to another position.",
+        "seg_desc_zh": "将绿色小茶杯和调羹从一个位置移动到另一个位置。"
+    },
+    "(None, (8066, 8875))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (9279, 10000))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "(None, (10168, 11033))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((11777, 14243), (11777, 14343))": {
+        "seg_desc": "Scoop the salt with the spoon from the little green cup to the donut.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯舀到甜甜圈。"
+    },
+    "(None, (14343, 15788))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((14711, 15788), None)": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab386b24e403ab10e4e58330e3b5ffff13290957
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json
@@ -0,0 +1,18 @@
+{
+    "((1048, 3217), (1292, 3217))": {
+        "seg_desc": "Pour the content from the fryingpan to the bowl.",
+        "seg_desc_zh": "将内容从平底锅倒到碗。"
+    },
+    "((3662, 4418), (3662, 4246))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((4594, 6736), (4446, 7116))": {
+        "seg_desc": "Scrape the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗刮到碟子。"
+    },
+    "((7292, 7628), (7292, 7628))": {
+        "seg_desc": "Rearrange the bowl and the plate from one position to another position.",
+        "seg_desc_zh": "将碗和碟子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..d946014235e278ca0fcfcec4e20b5f150ae0eff2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json
@@ -0,0 +1,14 @@
+{
+    "((1108, 1665), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (1905, 2153))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2609, 3354))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5e922e6c7541c23d084b3acd5e260d30e8ac3a5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json
@@ -0,0 +1,18 @@
+{
+    "((1466, 4952), (965, 4468))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗舀到碟子。"
+    },
+    "(None, (4520, 4872))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((4952, 5653), None)": {
+        "seg_desc": "Hold the bowl to the position.",
+        "seg_desc_zh": "用手抓握碗并保持位置。"
+    },
+    "((6009, 8267), (5280, 8074))": {
+        "seg_desc": "Wipe the bowl with the sponge.",
+        "seg_desc_zh": "用海绵擦碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..06f19cc4c16b35ee4d3dacfaccf46ce54e1b382d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json
@@ -0,0 +1,10 @@
+{
+    "((869, 5561), (1550, 5817))": {
+        "seg_desc": "Scoop the seasonings with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将调味料从碗舀到碟子。"
+    },
+    "(None, (5817, 7323))": {
+        "seg_desc": "Spread the seasonings on the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子上涂抹调味料。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1d96ec41aafeab06444db92d0ef44fb6bc8cc3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json
@@ -0,0 +1,38 @@
+{
+    "((1226, 2284), (1226, 2368))": {
+        "seg_desc": "Unscrew the cap of the yellow striped bottle.",
+        "seg_desc_zh": "拧开黄色条纹瓶的盖子。"
+    },
+    "(None, (2372, 2680))": {
+        "seg_desc": "Rearrange the yellow striped bottle from one position to another position.",
+        "seg_desc_zh": "将黄色条纹瓶从一个位置移动到另一个位置。"
+    },
+    "((3093, 4379), (3201, 3757))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (3937, 4578))": {
+        "seg_desc": "Place the yellow striped bottle inside the microwave oven.",
+        "seg_desc_zh": "将黄色条纹瓶放入微波炉。"
+    },
+    "((4379, 5614), (5002, 5506))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((5614, 6043), (5723, 5982))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((7340, 8284), (7528, 8136))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((8284, 9325), (8432, 9105))": {
+        "seg_desc": "Take the yellow striped bottle outside the microwave oven.",
+        "seg_desc_zh": "将黄色条纹瓶拿出微波炉。"
+    },
+    "((9537, 9833), (9389, 9833))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..437f954635605c567f064191e2233df944d48a57
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
@@ -0,0 +1,54 @@
+{
+    "((1580, 4262), (1964, 4130))": {
+        "seg_desc": "Scoop the tea powder with the spoon from the bowl to the blue mug.",
+        "seg_desc_zh": "用调羹将茶粉从碗舀到蓝色马克杯。"
+    },
+    "((4266, 6820), (4473, 6471))": {
+        "seg_desc": "Scoop the salt with the spoon from the little green cup to the blue mug.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯舀到蓝色马克杯。"
+    },
+    "((7340, 7898), (7612, 7828))": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "((7898, 9542), (7968, 8917))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "(None, (9069, 9866))": {
+        "seg_desc": "Hold the apple to the position.",
+        "seg_desc_zh": "用手抓握苹果并保持位置。"
+    },
+    "((9802, 9990), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "((10054, 10794), None)": {
+        "seg_desc": "Place the apple inside the blue mug.",
+        "seg_desc_zh": "将苹果放入蓝色马克杯。"
+    },
+    "((11082, 11855), None)": {
+        "seg_desc": "Hold the large black and yellow striped bottle to the position.",
+        "seg_desc_zh": "用手抓握大的黑黄条纹瓶并保持位置。"
+    },
+    "((11855, 12011), (11595, 12073))": {
+        "seg_desc": "Hold the large black and yellow striped bottle to the position.",
+        "seg_desc_zh": "用手抓握大的黑黄条纹瓶并保持位置。"
+    },
+    "((12135, 12592), (12073, 12592))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((12596, 13869), (12596, 13869))": {
+        "seg_desc": "Pour the water from the large black and yellow striped bottle to the blue mug.",
+        "seg_desc_zh": "将水从大的黑黄条纹瓶倒到蓝色马克杯。"
+    },
+    "((13869, 14993), (13869, 15037))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((15457, 17299), (16430, 17367))": {
+        "seg_desc": "Stir in the blue mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a59f82d72a2c245c19dbe67df30bc093323b082
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json
@@ -0,0 +1,14 @@
+{
+    "((1377, 1729), None)": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((1882, 6058), (2904, 6526))": {
+        "seg_desc": "Scrape the content with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶刮到碟子。"
+    },
+    "((6771, 7334), None)": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dd55c239f9b40895d66e8941f9aa63aaa39fd03
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json
@@ -0,0 +1,110 @@
+{
+    "((543, 1253), None)": {
+        "seg_desc": "Take the donut outside the plate.",
+        "seg_desc_zh": "将甜甜圈拿出碟子。"
+    },
+    "((1653, 4503), (1969, 4503))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "(None, (4507, 5652))": {
+        "seg_desc": "Rearrange the orange cleaver knife from one position to another position.",
+        "seg_desc_zh": "将橙色菜刀从一个位置移动到另一个位置。"
+    },
+    "((4623, 5207), None)": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "((5836, 6268), None)": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    },
+    "((6512, 6961), (6652, 6768))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((7013, 7401), None)": {
+        "seg_desc": "Hold porcelain cap to the position.",
+        "seg_desc_zh": "用手抓握瓷瓶盖并保持位置。"
+    },
+    "((7501, 10811), (7449, 10871))": {
+        "seg_desc": "Scoop the cheese with the spoon from the gray-green porcelain bottle to the plate.",
+        "seg_desc_zh": "用调羹将芝士从灰绿色瓷瓶舀到碟子。"
+    },
+    "(None, (10879, 12465))": {
+        "seg_desc": "Spread the cheese on the donut with the spoon.",
+        "seg_desc_zh": "用调羹在甜甜圈上涂抹芝士。"
+    },
+    "(None, (12465, 13209))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    },
+    "((12641, 13229), None)": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((13621, 16335), (13754, 16407))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "((16339, 17092), (16748, 17076))": {
+        "seg_desc": "Assemble the bread into the product in the plate.",
+        "seg_desc_zh": "将面包在碟子中组装到成品上。"
+    },
+    "((17368, 17997), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (17917, 18649))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((18713, 19250), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (19314, 19454))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((20186, 20759), None)": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "(None, (20955, 21715))": {
+        "seg_desc": "Rearrange the bowl from one position to another position.",
+        "seg_desc_zh": "将碗从一个位置移动到另一个位置。"
+    },
+    "((21855, 22216), None)": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((22324, 22964), None)": {
+        "seg_desc": "Hold the microwave oven to the position.",
+        "seg_desc_zh": "用手抓握微波炉并保持位置。"
+    },
+    "(None, (22652, 23224))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((23296, 24161), (23437, 24121))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((24249, 24850), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((25190, 27884), (25018, 28012))": {
+        "seg_desc": "Scoop the tomato sauce with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将番茄酱从碗舀到碟子。"
+    },
+    "(None, (28016, 29329))": {
+        "seg_desc": "Spread the tomato sauce on the bread with the spoon.",
+        "seg_desc_zh": "用调羹在面包上涂抹番茄酱。"
+    },
+    "((29561, 30478), (29329, 30846))": {
+        "seg_desc": "Rearrange the fork and the spoon from one position to another position.",
+        "seg_desc_zh": "将叉子和调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..004b35b15edcf68a6f91ba01980f0e637cf76602
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1108, 1833))": {
+        "seg_desc": "Uncap the porcelain teapot.",
+        "seg_desc_zh": "掀开瓷茶壶的盖子。"
+    },
+    "(None, (1969, 4691))": {
+        "seg_desc": "Pour the content from the blue mug to the porcelain teapot.",
+        "seg_desc_zh": "将内容从蓝色马克杯倒到瓷茶壶。"
+    },
+    "(None, (4847, 6060))": {
+        "seg_desc": "Cap the porcelain teapot.",
+        "seg_desc_zh": "盖上瓷茶壶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f292b5a811e4b3e1973fd827ed149ef37ab78e3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1048, 4835))": {
+        "seg_desc": "Grip the sugar cubes with the tongs from the fryingpan to the bowl.",
+        "seg_desc_zh": "用夹子将糖块从平底锅夹到碗。"
+    },
+    "((5103, 7520), (5307, 7416))": {
+        "seg_desc": "Stir in the bowl with the spoon.",
+        "seg_desc_zh": "用调羹在碗中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..101afd0cb0d1124fa5e4cccc516f62b69dd5dd99
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json
@@ -0,0 +1,6 @@
+{
+    "((981, 1917), (1093, 1885))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..a07e86b19929a4f285ed606bef08c7af1141260b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json
@@ -0,0 +1,10 @@
+{
+    "((1262, 3535), (1262, 1558))": {
+        "seg_desc": "Pour the content from the large black and yellow striped bottle to the bowl.",
+        "seg_desc_zh": "将内容从大的黑黄条纹瓶倒到碗。"
+    },
+    "(None, (3968, 4576))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f690534fff2f2570e990193c04b28f30aa65ad1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json
@@ -0,0 +1,34 @@
+{
+    "((1252, 3721), None)": {
+        "seg_desc": "Pour the content from the large black and yellow striped bottle to the bowl.",
+        "seg_desc_zh": "将内容从大的黑黄条纹瓶倒到碗。"
+    },
+    "(None, (4070, 5983))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((4214, 5286), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (6367, 6792))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (7048, 7236))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (8801, 9301))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (9494, 10238))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "(None, (10422, 11131))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..68035290570e9e50411a6495f2649c56e71aa765
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
@@ -0,0 +1,62 @@
+{
+    "((1390, 3304), (970, 3296))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    },
+    "((3528, 3980), None)": {
+        "seg_desc": "Hold the apple to the position.",
+        "seg_desc_zh": "用手抓握苹果并保持位置。"
+    },
+    "(None, (3972, 4453))": {
+        "seg_desc": "Place the apple inside the bowl.",
+        "seg_desc_zh": "将苹果放入碗。"
+    },
+    "((5345, 6882), (4993, 6918))": {
+        "seg_desc": "Unscrew the cap of the blue striped bottle.",
+        "seg_desc_zh": "拧开蓝色条纹瓶的盖子。"
+    },
+    "(None, (6918, 9012))": {
+        "seg_desc": "Pour the tea from the blue striped bottle to the bowl.",
+        "seg_desc_zh": "将茶从蓝色条纹瓶倒到碗。"
+    },
+    "((8640, 9012), None)": {
+        "seg_desc": "Hold cap to the position.",
+        "seg_desc_zh": "用手抓握瓶盖并保持位置。"
+    },
+    "((9012, 11310), (9012, 11826))": {
+        "seg_desc": "Screw the cap onto the blue striped bottle.",
+        "seg_desc_zh": "拧紧蓝色条纹瓶的盖子。"
+    },
+    "(None, (12150, 15625))": {
+        "seg_desc": "Grip the sugar cubes with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将糖块从碟子夹到碗。"
+    },
+    "((15977, 16543), (15977, 16477))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((16543, 17340), (16609, 17242))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((17340, 17868), (17438, 17774))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((17868, 18327), (17962, 18091))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((19984, 21055), (20176, 20933))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((21055, 21823), (21177, 21737))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "((21823, 22810), (21909, 22602))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b416c0c1a9843f1fe8c6c9bca7186bffcd1d9cf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json
@@ -0,0 +1,18 @@
+{
+    "((1270, 2015), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2519, 2880))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (3516, 5405))": {
+        "seg_desc": "Pour the content from the yellow mug to the plate.",
+        "seg_desc_zh": "将内容从黄色马克杯倒到碟子。"
+    },
+    "(None, (5750, 5934))": {
+        "seg_desc": "Hold the scale to the position.",
+        "seg_desc_zh": "用手抓握秤并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..f20c638340711bd9ce3a3d03606554e4a160b987
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json
@@ -0,0 +1,42 @@
+{
+    "((1368, 4686), (2348, 4514))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    },
+    "((5262, 5747), (4858, 5747))": {
+        "seg_desc": "Place the bread inside the plate.",
+        "seg_desc_zh": "将面包放入碟子。"
+    },
+    "(None, (6339, 6847))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((7512, 8612), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (7152, 8160))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "(None, (8429, 8981))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (9229, 9289))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (11767, 12624))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (12936, 13941))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "(None, (14289, 14749))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..648d4c869f283efd8654cc6c44ba34caa64b2b19
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json
@@ -0,0 +1,22 @@
+{
+    "((1456, 4146), (1212, 3970))": {
+        "seg_desc": "Cut the pear with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切梨。"
+    },
+    "((4146, 5239), None)": {
+        "seg_desc": "Place the pear inside the fryingpan.",
+        "seg_desc_zh": "将梨放入平底锅。"
+    },
+    "(None, (4322, 5239))": {
+        "seg_desc": "Place the pear inside the fryingpan.",
+        "seg_desc_zh": "将梨放入平底锅。"
+    },
+    "((5427, 6092), (5528, 6116))": {
+        "seg_desc": "Rearrange the fryingpan from one position to another position.",
+        "seg_desc_zh": "将平底锅从一个位置移动到另一个位置。"
+    },
+    "((6333, 8898), (6116, 8922))": {
+        "seg_desc": "Pour the seasonings from the green striped bottle to the fryingpan.",
+        "seg_desc_zh": "将调味料从绿色条纹瓶倒到平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..998c04f0e5914810f286ea5d757ce898585dfbbb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json
@@ -0,0 +1,6 @@
+{
+    "((1029, 3131), (1105, 3010))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f7106b91d181cbf12eece83e3b4b0b73f945e4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json
@@ -0,0 +1,14 @@
+{
+    "((972, 3345), None)": {
+        "seg_desc": "Pour the content from the large black and yellow striped bottle to the plate.",
+        "seg_desc_zh": "将内容从大的黑黄条纹瓶倒到碟子。"
+    },
+    "((3345, 3561), None)": {
+        "seg_desc": "Hold the large black and yellow striped bottle to the position.",
+        "seg_desc_zh": "用手抓握大的黑黄条纹瓶并保持位置。"
+    },
+    "((4058, 5393), (3637, 5309))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..e53d1564f66d490be6a6b8567a5c5cdee03e944d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1109, 1941))": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2205, 2297))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2718, 7021))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗舀到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..a88ed4be95761521cddf12a12515872f2bd3802a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55.json
@@ -0,0 +1,6 @@
+{
+    "((1405, 3590), (1088, 3466))": {
+        "seg_desc": "Screw the cap onto the green striped bottle.",
+        "seg_desc_zh": "拧紧绿色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..0930a6f18d8b77c49415a0244a23d0ef16c042e6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json
@@ -0,0 +1,46 @@
+{
+    "(None, (1312, 1729))": {
+        "seg_desc": "Place the donut inside the plate.",
+        "seg_desc_zh": "将甜甜圈放入碟子。"
+    },
+    "((2099, 2755), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (2931, 3660))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "(None, (4056, 4608))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((5529, 5557), None)": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((7767, 8515), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (9144, 10032))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((10068, 10709), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((11582, 14728), (12490, 15504))": {
+        "seg_desc": "Scoop the salt with the spoon from the little green cup to the plate.",
+        "seg_desc_zh": "用调羹将盐从绿色小茶杯舀到碟子。"
+    },
+    "((16069, 17302), None)": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    },
+    "(None, (16125, 17302))": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..b037b34f98cb2cafcc143333b58620b563325885
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json
@@ -0,0 +1,10 @@
+{
+    "((1134, 5245), (1723, 4945))": {
+        "seg_desc": "Scoop the content with the spoon from the yellow mug to the bowl.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯舀到碗。"
+    },
+    "((5689, 8083), (5689, 8083))": {
+        "seg_desc": "Pour the content from the porcelain teapot to the bowl.",
+        "seg_desc_zh": "将内容从瓷茶壶倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A003++seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24.json b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b54bbb0ab968b55d0e39d8d1b5cb4d74dcc1328
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A003++seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24.json
@@ -0,0 +1,6 @@
+{
+    "((1624, 4302), (1124, 4190))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__1469a06acb399dbd2b65__2023-04-28-18-40-56.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__1469a06acb399dbd2b65__2023-04-28-18-40-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..1058e710195abe12a3708791859fe1fc31ea0fc6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__1469a06acb399dbd2b65__2023-04-28-18-40-56.json
@@ -0,0 +1,6 @@
+{
+    "((945, 1553), (764, 1553))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..edeef86fa2422e71b666c9cfa6653db3e71d68d0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json
@@ -0,0 +1,6 @@
+{
+    "((1130, 2932), (738, 3040))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..504b15387e243ea9f7b07a9297cc7f3208cddcbe
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json
@@ -0,0 +1,6 @@
+{
+    "((608, 2610), (968, 2469))": {
+        "seg_desc": "Screw the cap onto the green and yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄绿条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__4b8138c463637dc9543d__2023-04-28-19-43-57.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__4b8138c463637dc9543d__2023-04-28-19-43-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a93f8db0d11ff493aa2bb7586580fed303a5c4b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__4b8138c463637dc9543d__2023-04-28-19-43-57.json
@@ -0,0 +1,18 @@
+{
+    "((944, 1404), None)": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((1408, 1892), None)": {
+        "seg_desc": "Hold porcelain cap to the position.",
+        "seg_desc_zh": "用手抓握瓷瓶盖并保持位置。"
+    },
+    "(None, (1608, 2140))": {
+        "seg_desc": "Rearrange the bowl from one position to another position.",
+        "seg_desc_zh": "将碗从一个位置移动到另一个位置。"
+    },
+    "((2012, 4654), (2325, 4894))": {
+        "seg_desc": "Scoop the content with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶舀到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__5421609ff372f909cd69__2023-04-28-19-24-25.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__5421609ff372f909cd69__2023-04-28-19-24-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..858a75cef736d6e167e1b27fb5ff0452b49f65cf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__5421609ff372f909cd69__2023-04-28-19-24-25.json
@@ -0,0 +1,6 @@
+{
+    "((1342, 2635), (925, 2546))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__5bb1fb16345048b54d15__2023-04-28-18-55-13.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__5bb1fb16345048b54d15__2023-04-28-18-55-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..916a788fb73ee2bd901b4ad455476bcb78115c4e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__5bb1fb16345048b54d15__2023-04-28-18-55-13.json
@@ -0,0 +1,18 @@
+{
+    "(None, (875, 1129))": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    },
+    "(None, (1129, 1385))": {
+        "seg_desc": "Place the spoon inside the plate.",
+        "seg_desc_zh": "将调羹放入碟子。"
+    },
+    "(None, (1593, 1742))": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    },
+    "(None, (1742, 1998))": {
+        "seg_desc": "Place the fork inside the plate.",
+        "seg_desc_zh": "将叉子放入碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__670845b55c2609fd17de__2023-04-28-18-37-09.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__670845b55c2609fd17de__2023-04-28-18-37-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b34ed7ecb49d96dd243a47f80b0cd54d134e0f4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__670845b55c2609fd17de__2023-04-28-18-37-09.json
@@ -0,0 +1,6 @@
+{
+    "((755, 3156), (1263, 3156))": {
+        "seg_desc": "Unscrew the cap of the green and yellow striped bottle.",
+        "seg_desc_zh": "拧开黄绿条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a58b9e712a465fb9624bf21836148c7531a953
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26.json
@@ -0,0 +1,6 @@
+{
+    "((1446, 2554), (861, 2831))": {
+        "seg_desc": "Cut the pear with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切梨。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..f13193c66909b95f9a3841a43fda73691af61bd9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31.json
@@ -0,0 +1,6 @@
+{
+    "(None, (997, 3434))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__7f874047e7455e81d42d__2023-04-28-18-41-29.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__7f874047e7455e81d42d__2023-04-28-18-41-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bcd00a7e790efa6a218807058d8f0b43c7991ec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__7f874047e7455e81d42d__2023-04-28-18-41-29.json
@@ -0,0 +1,6 @@
+{
+    "((947, 1303), (763, 1291))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..de62caf818d429d39ee271f27df0bd9e7d807cf1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json
@@ -0,0 +1,38 @@
+{
+    "(None, (1162, 1603))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((1855, 2319), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((2319, 2720), (1963, 2740))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((2720, 3195), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (3468, 3784))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (5614, 5862))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((6014, 6706), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (6374, 7051))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((6706, 7235), None)": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed184c8606cd7d2865e880f3a44915dc3bb9e83
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json
@@ -0,0 +1,6 @@
+{
+    "((1637, 3002), (1060, 3714))": {
+        "seg_desc": "Scoop the content with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶舀到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__b01ecbd7533936b533ef__2023-04-28-19-27-08.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__b01ecbd7533936b533ef__2023-04-28-19-27-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c3023185bb006f3025c31acb0b891ec566f723a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__b01ecbd7533936b533ef__2023-04-28-19-27-08.json
@@ -0,0 +1,6 @@
+{
+    "((1245, 2362), (761, 2374))": {
+        "seg_desc": "Cut the bread with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切面包。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c08f911077d1ee2eeada__2023-04-28-19-04-39.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c08f911077d1ee2eeada__2023-04-28-19-04-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ef87b868771a8c17f009e0dc59765b89368b0c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c08f911077d1ee2eeada__2023-04-28-19-04-39.json
@@ -0,0 +1,18 @@
+{
+    "(None, (1247, 1315))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "((1663, 2160), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2528, 2612))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2864, 3985))": {
+        "seg_desc": "Pour the content from the tall blue mug to the plate.",
+        "seg_desc_zh": "将内容从较高的蓝色马克杯倒到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95a71e791cfce6d71b77467affee60eec504c49
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15.json
@@ -0,0 +1,6 @@
+{
+    "((1063, 2957), (1067, 2929))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd764cc96428e9005beade745e853b4127999963
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55.json
@@ -0,0 +1,6 @@
+{
+    "((855, 2815), (939, 2775))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__d570c3d83771037b2600__2023-04-28-18-53-19.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__d570c3d83771037b2600__2023-04-28-18-53-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..567f25fb41d2cba077448f1672e647637ca78593
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__d570c3d83771037b2600__2023-04-28-18-53-19.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1066, 1647))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee04ffc325bed7ad3262e3ed633c99eb871f3f8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json
@@ -0,0 +1,18 @@
+{
+    "((1572, 3218), (896, 3538))": {
+        "seg_desc": "Scoop the detergent with the spoon from the large white bottle to the plate.",
+        "seg_desc_zh": "用调羹将洗洁精从大的白色瓶舀到碟子。"
+    },
+    "((1256, 1472), None)": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((3782, 3894), (3782, 3882))": {
+        "seg_desc": "Rearrange the sponge from one position to another position.",
+        "seg_desc_zh": "将海绵从一个位置移动到另一个位置。"
+    },
+    "((4138, 5719), (3882, 5719))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..107ea6224795210c8de0250d4b949601d3e94add
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14.json
@@ -0,0 +1,6 @@
+{
+    "(None, (562, 1895))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__0f020df7ffbbce295312__2023-04-15-14-39-24.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__0f020df7ffbbce295312__2023-04-15-14-39-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..2576fae7ee377998bf9325e12816df5488a4a001
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__0f020df7ffbbce295312__2023-04-15-14-39-24.json
@@ -0,0 +1,6 @@
+{
+    "(None, (368, 2250))": {
+        "seg_desc": "Stir in the tall blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在较高的蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__14282919c498f2f82d25__2023-04-15-14-18-40.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__14282919c498f2f82d25__2023-04-15-14-18-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b3d101db1908433a2ba8a3013e749456e73c6e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__14282919c498f2f82d25__2023-04-15-14-18-40.json
@@ -0,0 +1,6 @@
+{
+    "((763, 4061), (547, 4037))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to another bowl.",
+        "seg_desc_zh": "用调羹将内容从碗舀到另一个碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05db21ac2b50001293714d0ec949421878afee1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09.json
@@ -0,0 +1,6 @@
+{
+    "(None, (591, 2604))": {
+        "seg_desc": "Stir in the tall blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在较高的蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..e140bd218b164cfb2f8c5fb961fdd3aec69b3f20
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json
@@ -0,0 +1,54 @@
+{
+    "(None, (756, 1277))": {
+        "seg_desc": "Rearrange the blue cup from one position to another position.",
+        "seg_desc_zh": "将蓝色茶杯从一个位置移动到另一个位置。"
+    },
+    "((1633, 3286), (2237, 3286))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((3382, 4707), (3382, 4707))": {
+        "seg_desc": "Pour the water from the large white bottle to the blue cup.",
+        "seg_desc_zh": "将水从大的白色瓶倒到蓝色茶杯。"
+    },
+    "((4835, 5641), (4835, 5641))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((6264, 7178), (5960, 7157))": {
+        "seg_desc": "Pour the juice powder from the orange mug to the blue cup.",
+        "seg_desc_zh": "将果汁粉从橙色马克杯倒到蓝色茶杯。"
+    },
+    "((7181, 7745), None)": {
+        "seg_desc": "Hold the blue cup to the position.",
+        "seg_desc_zh": "用手抓握蓝色茶杯并保持位置。"
+    },
+    "(None, (7381, 7793))": {
+        "seg_desc": "Rearrange the gray-green porcelain bottle from one position to another position.",
+        "seg_desc_zh": "将灰绿色瓷瓶从一个位置移动到另一个位置。"
+    },
+    "((7853, 8323), (7873, 8298))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((8323, 9971), (8526, 9927))": {
+        "seg_desc": "Scoop the tea powder with the spoon from the gray-green porcelain bottle to the blue cup.",
+        "seg_desc_zh": "用调羹将茶粉从灰绿色瓷瓶舀到蓝色茶杯。"
+    },
+    "((9975, 10519), (10063, 10427))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "(None, (10459, 10755))": {
+        "seg_desc": "Rearrange the gray-green porcelain bottle from one position to another position.",
+        "seg_desc_zh": "将灰绿色瓷瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (10936, 12389))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to the blue cup.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到蓝色茶杯。"
+    },
+    "((12697, 14445), (12521, 14305))": {
+        "seg_desc": "Stir in the blue cup with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色茶杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__4fd8e3393331c29e3291__2023-04-15-14-27-29.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__4fd8e3393331c29e3291__2023-04-15-14-27-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f07021c283ec23cc27a214f8535a8bf0b284a3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__4fd8e3393331c29e3291__2023-04-15-14-27-29.json
@@ -0,0 +1,6 @@
+{
+    "((475, 1607), (499, 1868))": {
+        "seg_desc": "Unscrew the cap of the red striped bottle.",
+        "seg_desc_zh": "拧开红色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..db5b6396c2543fb910333950db07022d71bbcd93
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json
@@ -0,0 +1,38 @@
+{
+    "((1982, 3379), None)": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    },
+    "((3511, 4384), (2811, 4348))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "((4384, 4560), None)": {
+        "seg_desc": "Hold the apple to the position.",
+        "seg_desc_zh": "用手抓握苹果并保持位置。"
+    },
+    "((4784, 4828), None)": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "((5168, 5236), None)": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (4536, 5425))": {
+        "seg_desc": "Place the apple onto the platform of the scale.",
+        "seg_desc_zh": "将苹果放置于秤的平台上。"
+    },
+    "(None, (5702, 6583))": {
+        "seg_desc": "Grip the apple slice with the tongs from the scale to the plate.",
+        "seg_desc_zh": "用夹子将苹果片从秤夹到碟子。"
+    },
+    "(None, (6583, 9297))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to another plate.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到另一个碟子。"
+    },
+    "((10005, 10698), (9589, 12367))": {
+        "seg_desc": "Stir in the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16838f34741c6fde56bef2195df2be615a3435b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38.json
@@ -0,0 +1,6 @@
+{
+    "((1310, 1890), None)": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a86430bec63be475db1e2a8b69521b7bd4d13b3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json
@@ -0,0 +1,34 @@
+{
+    "(None, (709, 1153))": {
+        "seg_desc": "Rearrange the blue cup from one position to another position.",
+        "seg_desc_zh": "将蓝色茶杯从一个位置移动到另一个位置。"
+    },
+    "((1301, 2570), (1578, 2606))": {
+        "seg_desc": "Scoop the coffee powder with the spoon from the yellow mug to the blue cup.",
+        "seg_desc_zh": "用调羹将咖啡粉从黄色马克杯舀到蓝色茶杯。"
+    },
+    "((2666, 3419), (2610, 3635))": {
+        "seg_desc": "Scrape the honey with the spoon from the bowl to the blue cup.",
+        "seg_desc_zh": "用调羹将蜂蜜从碗刮到蓝色茶杯。"
+    },
+    "((3491, 3683), None)": {
+        "seg_desc": "Hold the blue cup to the position.",
+        "seg_desc_zh": "用手抓握蓝色茶杯并保持位置。"
+    },
+    "((4059, 5253), (3847, 5253))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((5257, 6558), (5317, 6514))": {
+        "seg_desc": "Pour the water from the large white bottle to the blue cup.",
+        "seg_desc_zh": "将水从大的白色瓶倒到蓝色茶杯。"
+    },
+    "((6562, 7799), (6662, 7803))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((7995, 9372), (8047, 9208))": {
+        "seg_desc": "Stir in the blue cup with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色茶杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__7c014b61a8766e1b1396__2023-04-15-14-28-13.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__7c014b61a8766e1b1396__2023-04-15-14-28-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..62385e834852febfa283af89beb4e97ef254516a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__7c014b61a8766e1b1396__2023-04-15-14-28-13.json
@@ -0,0 +1,6 @@
+{
+    "((411, 1808), (411, 1808))": {
+        "seg_desc": "Screw the cap onto the red striped bottle.",
+        "seg_desc_zh": "拧紧红色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a368db310b82c6e20a4c4e284426ec688a3ad3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06.json
@@ -0,0 +1,6 @@
+{
+    "((459, 1156), (487, 1132))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__82fc7cf062cdca89908c__2023-04-15-14-25-55.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__82fc7cf062cdca89908c__2023-04-15-14-25-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa09921d5d9a26e9e9eb510e66202eabec3d5bf3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__82fc7cf062cdca89908c__2023-04-15-14-25-55.json
@@ -0,0 +1,6 @@
+{
+    "((641, 1978), (621, 1962))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..7717d0d98805622493efc544eb0731d9cdbd1937
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56.json
@@ -0,0 +1,6 @@
+{
+    "((1157, 2438), (633, 2386))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..536db56d281093158ec77ebf8efb1120cc7367a5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json
@@ -0,0 +1,74 @@
+{
+    "((774, 1354), (774, 1354))": {
+        "seg_desc": "Rearrange the scale from one position to another position.",
+        "seg_desc_zh": "将秤从一个位置移动到另一个位置。"
+    },
+    "(None, (1614, 2075))": {
+        "seg_desc": "Place the blue cup onto the platform of the scale.",
+        "seg_desc_zh": "将蓝色茶杯放置于秤的平台上。"
+    },
+    "(None, (2167, 2211))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2371, 2411))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (2559, 2595))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "((3544, 5077), (3284, 5077))": {
+        "seg_desc": "Unscrew the cap of the red striped bottle.",
+        "seg_desc_zh": "拧开红色条纹瓶的盖子。"
+    },
+    "((5081, 6034), None)": {
+        "seg_desc": "Pour the wine from the red striped bottle to the blue cup.",
+        "seg_desc_zh": "将酒从红色条纹瓶倒到蓝色茶杯。"
+    },
+    "((6034, 7719), (6126, 7523))": {
+        "seg_desc": "Screw the cap onto the red striped bottle.",
+        "seg_desc_zh": "拧紧红色条纹瓶的盖子。"
+    },
+    "(None, (7639, 8087))": {
+        "seg_desc": "Rearrange the red striped bottle from one position to another position.",
+        "seg_desc_zh": "将红色条纹瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (8551, 8912))": {
+        "seg_desc": "Hold the green striped bottle to the position.",
+        "seg_desc_zh": "用手抓握绿色条纹瓶并保持位置。"
+    },
+    "((8848, 9960), (9036, 9952))": {
+        "seg_desc": "Unscrew the cap of the green striped bottle.",
+        "seg_desc_zh": "拧开绿色条纹瓶的盖子。"
+    },
+    "((9964, 11037), (10077, 10829))": {
+        "seg_desc": "Pour the juice from the green striped bottle to the blue cup.",
+        "seg_desc_zh": "将果汁从绿色条纹瓶倒到蓝色茶杯。"
+    },
+    "((11041, 12490), (11165, 13059))": {
+        "seg_desc": "Screw the cap onto the green striped bottle.",
+        "seg_desc_zh": "拧紧绿色条纹瓶的盖子。"
+    },
+    "((13491, 15669), (14039, 15132))": {
+        "seg_desc": "Pour the soda water from the green mug to the blue cup.",
+        "seg_desc_zh": "将苏打水从绿色马克杯倒到蓝色茶杯。"
+    },
+    "((16549, 17814), (16089, 18242))": {
+        "seg_desc": "Scrape the sugar with the spoon from the little green cup to the blue cup.",
+        "seg_desc_zh": "用调羹将糖从绿色小茶杯刮到蓝色茶杯。"
+    },
+    "((18363, 18863), None)": {
+        "seg_desc": "Rearrange the blue cup from one position to another position.",
+        "seg_desc_zh": "将蓝色茶杯从一个位置移动到另一个位置。"
+    },
+    "(None, (18779, 20500))": {
+        "seg_desc": "Stir in the blue cup with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色茶杯中搅拌。"
+    },
+    "((21393, 22818), (20804, 23278))": {
+        "seg_desc": "Pour the prepared wine from the blue cup to the wineglass.",
+        "seg_desc_zh": "将准备好的酒从蓝色茶杯倒到酒杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd38e404ba9e3e9d1e637daeb4705495109a6441
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json
@@ -0,0 +1,6 @@
+{
+    "((1103, 5886), (810, 5874))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to another bowl.",
+        "seg_desc_zh": "用调羹将内容从碗舀到另一个碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcbde91566789ad9b44577dbde9a0c842b11052d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json
@@ -0,0 +1,18 @@
+{
+    "((764, 1989), (1032, 1136))": {
+        "seg_desc": "Place the white fruit knife inside the plate.",
+        "seg_desc_zh": "将白色水果刀放入碟子。"
+    },
+    "(None, (2321, 2581))": {
+        "seg_desc": "Hold the fork to the position.",
+        "seg_desc_zh": "用手抓握叉子并保持位置。"
+    },
+    "((2557, 2753), None)": {
+        "seg_desc": "Hold the fork to the position.",
+        "seg_desc_zh": "用手抓握叉子并保持位置。"
+    },
+    "(None, (2729, 3374))": {
+        "seg_desc": "Place the fork inside the plate.",
+        "seg_desc_zh": "将叉子放入碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__a15ff124580d494fb406__2023-04-15-14-46-19.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__a15ff124580d494fb406__2023-04-15-14-46-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..53cd9f1aac3ef09608cb430750eb09f73e49158c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__a15ff124580d494fb406__2023-04-15-14-46-19.json
@@ -0,0 +1,14 @@
+{
+    "(None, (775, 3621))": {
+        "seg_desc": "Rearrange the fork from one position to another position.",
+        "seg_desc_zh": "将叉子从一个位置移动到另一个位置。"
+    },
+    "((1324, 2677), None)": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    },
+    "(None, (3882, 5179))": {
+        "seg_desc": "Rearrange the spoon from one position to another position.",
+        "seg_desc_zh": "将调羹从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__aac9de080442d7bb75be__2023-04-15-14-48-14.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__aac9de080442d7bb75be__2023-04-15-14-48-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db0c9f118556378c4e9d39a8c8ed5a502f7a77a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__aac9de080442d7bb75be__2023-04-15-14-48-14.json
@@ -0,0 +1,18 @@
+{
+    "((646, 1391), None)": {
+        "seg_desc": "Rearrange the white fruit knife from one position to another position.",
+        "seg_desc_zh": "将白色水果刀从一个位置移动到另一个位置。"
+    },
+    "(None, (1739, 2395))": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    },
+    "(None, (2716, 2859))": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    },
+    "(None, (2859, 3144))": {
+        "seg_desc": "Place the spoon inside the plate.",
+        "seg_desc_zh": "将调羹放入碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5fcc099301178f06869a9e07e6d62d5cf049805
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json
@@ -0,0 +1,34 @@
+{
+    "(None, (668, 1020))": {
+        "seg_desc": "Rearrange the blue cup from one position to another position.",
+        "seg_desc_zh": "将蓝色茶杯从一个位置移动到另一个位置。"
+    },
+    "((1304, 2809), (1901, 2745))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((2809, 4242), (2865, 4218))": {
+        "seg_desc": "Pour the milk from the large white bottle to the blue cup.",
+        "seg_desc_zh": "将牛奶从大的白色瓶倒到蓝色茶杯。"
+    },
+    "((4242, 4811), (4334, 4779))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((4943, 5499), (4987, 5455))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((5503, 6732), (5659, 6672))": {
+        "seg_desc": "Scoop the brewed tea with the spoon from the gray-green porcelain bottle to the blue cup.",
+        "seg_desc_zh": "用调羹将泡好的茶从灰绿色瓷瓶舀到蓝色茶杯。"
+    },
+    "((6732, 7100), (6812, 7084))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((7224, 8986), (7313, 8762))": {
+        "seg_desc": "Stir in the blue cup with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色茶杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a013b52676fd87d4a81ace57c5f273846f0865c2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json
@@ -0,0 +1,6 @@
+{
+    "(None, (433, 4027))": {
+        "seg_desc": "Grip the ice cubes with the tongs from the plate to the wineglass.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到酒杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..834325079dd7dc8113729d280dec6734fdf86e30
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10.json
@@ -0,0 +1,6 @@
+{
+    "((1111, 2352), (619, 2352))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..05cdb57a4a654ae2bbf13d2bc53b501245b441da
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json
@@ -0,0 +1,6 @@
+{
+    "((757, 2126), (757, 2098))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d4bf979d5a225b98a540__2023-04-15-14-41-16.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d4bf979d5a225b98a540__2023-04-15-14-41-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda6907fae239d12457d4e5fb0ecff8d516b09e6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d4bf979d5a225b98a540__2023-04-15-14-41-16.json
@@ -0,0 +1,6 @@
+{
+    "(None, (818, 2969))": {
+        "seg_desc": "Stir in the yellow mug with the fork.",
+        "seg_desc_zh": "用叉子在黄色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d74f8262735a1aaedccd__2023-04-15-15-06-01.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d74f8262735a1aaedccd__2023-04-15-15-06-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..48cbf3b47f439660499d96d3e1c5f075b9ccde90
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__d74f8262735a1aaedccd__2023-04-15-15-06-01.json
@@ -0,0 +1,6 @@
+{
+    "((846, 2644), (458, 2584))": {
+        "seg_desc": "Cut the pear with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切梨。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A005++seq__fccd810e2fd673b25c86__2023-04-15-14-30-47.json b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__fccd810e2fd673b25c86__2023-04-15-14-30-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e848b381509257f326de354a44483d728afd0aa
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A005++seq__fccd810e2fd673b25c86__2023-04-15-14-30-47.json
@@ -0,0 +1,6 @@
+{
+    "((530, 1579), (462, 1539))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__085b5f61058e6d772af8__2023-04-21-10-48-54.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__085b5f61058e6d772af8__2023-04-21-10-48-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4d9680f2d49d1a61f46d1cddd8b7ea070ccd81d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__085b5f61058e6d772af8__2023-04-21-10-48-54.json
@@ -0,0 +1,6 @@
+{
+    "((1096, 1857), (603, 1857))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..a823a9423a38c3d2b5c302fd6087bc36654b3936
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json
@@ -0,0 +1,70 @@
+{
+    "((1073, 2113), (1073, 2093))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((2117, 2918), (2262, 2918))": {
+        "seg_desc": "Scoop the water with the spoon from the large white bottle to the blue mug.",
+        "seg_desc_zh": "用调羹将水从大的白色瓶舀到蓝色马克杯。"
+    },
+    "((2918, 6100), (2918, 5992))": {
+        "seg_desc": "Pour the water from the large white bottle to the blue mug.",
+        "seg_desc_zh": "将水从大的白色瓶倒到蓝色马克杯。"
+    },
+    "((6100, 7429), (6192, 7457))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((7569, 7681), None)": {
+        "seg_desc": "Hold the blue mug to the position.",
+        "seg_desc_zh": "用手抓握蓝色马克杯并保持位置。"
+    },
+    "((7870, 8710), (7722, 8694))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((8710, 10359), (8786, 10323))": {
+        "seg_desc": "Scoop the milk powder with the spoon from the large black and yellow striped bottle to the blue mug.",
+        "seg_desc_zh": "用调羹将奶粉从大的黑黄条纹瓶舀到蓝色马克杯。"
+    },
+    "((10359, 11244), (10379, 11516))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((11768, 12525), (11620, 12525))": {
+        "seg_desc": "Stir in the blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色马克杯中搅拌。"
+    },
+    "((12630, 13622), (12817, 13590))": {
+        "seg_desc": "Unscrew the cap of the yellow striped bottle.",
+        "seg_desc_zh": "拧开黄色条纹瓶的盖子。"
+    },
+    "((13622, 14490), (13806, 14454))": {
+        "seg_desc": "Pour the juice from the yellow striped bottle to the blue mug.",
+        "seg_desc_zh": "将果汁从黄色条纹瓶倒到蓝色马克杯。"
+    },
+    "((14494, 15611), (14635, 15387))": {
+        "seg_desc": "Screw the cap onto the yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄色条纹瓶的盖子。"
+    },
+    "((15703, 16336), (15675, 16336))": {
+        "seg_desc": "Stir in the blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色马克杯中搅拌。"
+    },
+    "((16536, 17661), (16864, 17661))": {
+        "seg_desc": "Scoop the jam with the spoon from the bowl to the blue mug.",
+        "seg_desc_zh": "用调羹将果酱从碗舀到蓝色马克杯。"
+    },
+    "((17817, 18385), (17725, 18313))": {
+        "seg_desc": "Stir in the blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色马克杯中搅拌。"
+    },
+    "((18385, 19722), (18505, 19614))": {
+        "seg_desc": "Grip the ice cube with the tongs from the plate to the blue mug.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到蓝色马克杯。"
+    },
+    "((19722, 20695), (19806, 20695))": {
+        "seg_desc": "Stir in the blue mug with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bf68a35c36ca769e7ce4d4e339f438734a83fed
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47.json
@@ -0,0 +1,6 @@
+{
+    "(None, (643, 1094))": {
+        "seg_desc": "Cap the porcelain teapot.",
+        "seg_desc_zh": "盖上瓷茶壶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__26fd908ae5324a664d27__2023-04-21-10-57-35.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__26fd908ae5324a664d27__2023-04-21-10-57-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3c26b146e2a40378917180e2274978246b25b1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__26fd908ae5324a664d27__2023-04-21-10-57-35.json
@@ -0,0 +1,10 @@
+{
+    "((676, 1497), (820, 1533))": {
+        "seg_desc": "Cut the pear with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切梨。"
+    },
+    "(None, (1613, 1777))": {
+        "seg_desc": "Rearrange the pear from one position to another position.",
+        "seg_desc_zh": "将梨从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa3f7cbed0da7438573ea1d3956e6630ff7bd3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59.json
@@ -0,0 +1,10 @@
+{
+    "((612, 1000), None)": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "((1121, 1349), None)": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__2979cde795c345f5b70b__2023-04-21-10-35-54.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__2979cde795c345f5b70b__2023-04-21-10-35-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e1a098e169dc7d0fa77d00f8f9312e730abfbc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__2979cde795c345f5b70b__2023-04-21-10-35-54.json
@@ -0,0 +1,6 @@
+{
+    "(None, (720, 2321))": {
+        "seg_desc": "Stir in the blue cup with the rod.",
+        "seg_desc_zh": "用搅拌棒在蓝色茶杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__32290212848a70175823__2023-04-21-10-26-59.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__32290212848a70175823__2023-04-21-10-26-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef462ca5e138195ba4f57f9b1ebb2e12afc1cc09
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__32290212848a70175823__2023-04-21-10-26-59.json
@@ -0,0 +1,6 @@
+{
+    "(None, (738, 2487))": {
+        "seg_desc": "Scoop the content with the spoon from the bowl to the wineglass.",
+        "seg_desc_zh": "用调羹将内容从碗舀到酒杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__3783890ba75da6556f48__2023-04-21-10-24-03.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__3783890ba75da6556f48__2023-04-21-10-24-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..cff3ea5750f71b0c218e135fd13fcf1bd8db4aa4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__3783890ba75da6556f48__2023-04-21-10-24-03.json
@@ -0,0 +1,6 @@
+{
+    "((643, 1303), (662, 1263))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__4602f51364aa3751d953__2023-04-21-10-56-14.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__4602f51364aa3751d953__2023-04-21-10-56-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..f100b325e1cd30fb34c8866d8d5c613cbcaee0d9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__4602f51364aa3751d953__2023-04-21-10-56-14.json
@@ -0,0 +1,10 @@
+{
+    "((971, 1551), (763, 1631))": {
+        "seg_desc": "Cut the apple with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切苹果。"
+    },
+    "(None, (1731, 1951))": {
+        "seg_desc": "Rearrange the apple from one position to another position.",
+        "seg_desc_zh": "将苹果从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__7055a02d8903613ebfd6__2023-04-21-10-21-03.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__7055a02d8903613ebfd6__2023-04-21-10-21-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff2314e09b487ff63f94ec44dda531e386d4c2c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__7055a02d8903613ebfd6__2023-04-21-10-21-03.json
@@ -0,0 +1,6 @@
+{
+    "((766, 1707), (629, 1671))": {
+        "seg_desc": "Screw the cap onto the red striped bottle.",
+        "seg_desc_zh": "拧紧红色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__70ca2910d70064f96b6b__2023-04-21-10-28-44.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__70ca2910d70064f96b6b__2023-04-21-10-28-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac767a2dbff7d6a0f93bff12966ef1916a06646b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__70ca2910d70064f96b6b__2023-04-21-10-28-44.json
@@ -0,0 +1,6 @@
+{
+    "((712, 2113), None)": {
+        "seg_desc": "Pour the content from the little green cup to the wineglass.",
+        "seg_desc_zh": "将内容从绿色小茶杯倒到酒杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..847305f0d3bb4e73055c5b92c4fd15c7093ebff9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48.json
@@ -0,0 +1,6 @@
+{
+    "((650, 1787), (678, 1787))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__a2420e83341621bb75d0__2023-04-21-10-46-43.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__a2420e83341621bb75d0__2023-04-21-10-46-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..a96056415b158a7e9e34987ea0fb0f3e82629499
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__a2420e83341621bb75d0__2023-04-21-10-46-43.json
@@ -0,0 +1,6 @@
+{
+    "((844, 2334), (615, 2346))": {
+        "seg_desc": "Scrape the content with the spoon from the yellow mug to the blue mug.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯刮到蓝色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfd600e1b1da6f60d4268587210d771cbb172594
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json
@@ -0,0 +1,46 @@
+{
+    "((1019, 2260), (1255, 2248))": {
+        "seg_desc": "Unscrew the cap of the green striped bottle.",
+        "seg_desc_zh": "拧开绿色条纹瓶的盖子。"
+    },
+    "((2264, 3709), (2404, 3673))": {
+        "seg_desc": "Pour the tea powder from the green striped bottle to the spoon.",
+        "seg_desc_zh": "将茶粉从绿色条纹瓶倒到调羹。"
+    },
+    "((3713, 4738), (3757, 4558))": {
+        "seg_desc": "Screw the cap onto the green striped bottle.",
+        "seg_desc_zh": "拧紧绿色条纹瓶的盖子。"
+    },
+    "((5050, 6307), (4934, 6388))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    },
+    "((6307, 7477), (6585, 7417))": {
+        "seg_desc": "Pour the water from the large white bottle to the blue cup.",
+        "seg_desc_zh": "将水从大的白色瓶倒到蓝色茶杯。"
+    },
+    "((7481, 8666), (7577, 8666))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    },
+    "((8858, 9683), (8850, 9583))": {
+        "seg_desc": "Stir in the blue cup with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色茶杯中搅拌。"
+    },
+    "((9839, 10976), (10087, 11060))": {
+        "seg_desc": "Scoop the fruit jam with the spoon from the bowl to the blue cup.",
+        "seg_desc_zh": "用调羹将果酱从碗舀到蓝色茶杯。"
+    },
+    "((11188, 11772), (11060, 11692))": {
+        "seg_desc": "Stir in the blue cup with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色茶杯中搅拌。"
+    },
+    "(None, (11924, 12877))": {
+        "seg_desc": "Grip the ice cube with the tongs from the plate to the blue cup.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到蓝色茶杯。"
+    },
+    "((13053, 13730), (13057, 13734))": {
+        "seg_desc": "Stir in the blue cup with the spoon.",
+        "seg_desc_zh": "用调羹在蓝色茶杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc42222eabf4e8f4f8f1c7c7c858eb18fa9a973a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24.json
@@ -0,0 +1,6 @@
+{
+    "(None, (668, 2674))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c11fb8b902b97ca04857__2023-04-21-10-24-26.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c11fb8b902b97ca04857__2023-04-21-10-24-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..885b73d666156491a15ae0285666d80cf05e5eb5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c11fb8b902b97ca04857__2023-04-21-10-24-26.json
@@ -0,0 +1,6 @@
+{
+    "((767, 1191), (579, 1115))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..480dcd7ea358ef32040e234debf8f6c8178fdbfc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24.json
@@ -0,0 +1,6 @@
+{
+    "(None, (807, 1276))": {
+        "seg_desc": "Uncap the porcelain teapot.",
+        "seg_desc_zh": "掀开瓷茶壶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..254f66eba3e11460d6f6f4bac940bbadcdfc1503
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58.json
@@ -0,0 +1,6 @@
+{
+    "((691, 1876), (752, 1848))": {
+        "seg_desc": "Unscrew the cap of the red striped bottle.",
+        "seg_desc_zh": "拧开红色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__de586f670a1f19a58f4a__2023-04-21-10-53-19.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__de586f670a1f19a58f4a__2023-04-21-10-53-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a3e7dcca0e29ac8bc87be48ef36b8dea142844
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__de586f670a1f19a58f4a__2023-04-21-10-53-19.json
@@ -0,0 +1,6 @@
+{
+    "((376, 1809), (764, 1713))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..61364d6023a06bd4bf9a5b72180e89585d9dfd1f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json
@@ -0,0 +1,14 @@
+{
+    "(None, (725, 1157))": {
+        "seg_desc": "Assemble the apple into the product in the fryingpan.",
+        "seg_desc_zh": "将苹果在平底锅中组装到成品上。"
+    },
+    "(None, (1359, 1823))": {
+        "seg_desc": "Assemble the bread into the product in the fryingpan.",
+        "seg_desc_zh": "将面包在平底锅中组装到成品上。"
+    },
+    "((1647, 2523), (1879, 2523))": {
+        "seg_desc": "Assemble the bread into the product in the fryingpan.",
+        "seg_desc_zh": "将面包在平底锅中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..d043464e53f042d126d34f6cdc7ae6d7f8809e15
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22.json
@@ -0,0 +1,6 @@
+{
+    "((593, 1914), (905, 1910))": {
+        "seg_desc": "Cut the bread with the orange cleaver knife.",
+        "seg_desc_zh": "用橙色菜刀切面包。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A007++seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40.json b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb08129b953b14705a62dae118f85b6422f5d2e3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A007++seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40.json
@@ -0,0 +1,6 @@
+{
+    "((923, 1824), (651, 1808))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..09e1098d4ee87a8cad6d33bdbc38a184167b9bec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39.json
@@ -0,0 +1,6 @@
+{
+    "((525, 2054), (401, 2070))": {
+        "seg_desc": "Screw the cap onto the yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__147fe54c0f342a438cce__2023-05-09-18-48-36.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__147fe54c0f342a438cce__2023-05-09-18-48-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f79660bd717aa081265c1837c5bdb669558a5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__147fe54c0f342a438cce__2023-05-09-18-48-36.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1039, 1916))": {
+        "seg_desc": "Assemble the donut into the product in the plate.",
+        "seg_desc_zh": "将甜甜圈在碟子中组装到成品上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__1ad2eda06874714a15b3__2023-05-09-18-58-42.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__1ad2eda06874714a15b3__2023-05-09-18-58-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3a2950c0444b2581c0ab91696d003526535909
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__1ad2eda06874714a15b3__2023-05-09-18-58-42.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1053, 3691))": {
+        "seg_desc": "Wipe the plate with the sponge.",
+        "seg_desc_zh": "用海绵擦碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__2630520df6141d677761__2023-05-09-18-55-32.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__2630520df6141d677761__2023-05-09-18-55-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..be96b92733451e9f7ce922e415887b2dd23fc15e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__2630520df6141d677761__2023-05-09-18-55-32.json
@@ -0,0 +1,6 @@
+{
+    "((1867, 7631), (1023, 8528))": {
+        "seg_desc": "Scrape the content with the spoon from the bowl to the plate.",
+        "seg_desc_zh": "用调羹将内容从碗刮到碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__40db17fed1c0f6f70765__2023-04-23-11-44-50.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__40db17fed1c0f6f70765__2023-04-23-11-44-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac9135601dadd4dfc264e25dada2b8b792fb5c4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__40db17fed1c0f6f70765__2023-04-23-11-44-50.json
@@ -0,0 +1,10 @@
+{
+    "((532, 3059), (1032, 2997))": {
+        "seg_desc": "Scoop the content with the spoon from the yellow mug to the green mug.",
+        "seg_desc_zh": "用调羹将内容从黄色马克杯舀到绿色马克杯。"
+    },
+    "((3059, 3526), (3121, 3526))": {
+        "seg_desc": "Rearrange the yellow mug from one position to another position.",
+        "seg_desc_zh": "将黄色马克杯从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..f272efc5b3c3799c2cd2d4339c97f5f40909a7f6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1407, 4013))": {
+        "seg_desc": "Spread the content on the plate with the spoon.",
+        "seg_desc_zh": "用调羹在碟子上涂抹内容。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd90a94c6bf086ba27f8286f241b37f24c1198c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39.json
@@ -0,0 +1,6 @@
+{
+    "((395, 972), (395, 972))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__4aefa542ed038308729c__2023-04-23-11-46-39.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__4aefa542ed038308729c__2023-04-23-11-46-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e66ccbf76462f8dc0339fc6d7aac66cb204e5eb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__4aefa542ed038308729c__2023-04-23-11-46-39.json
@@ -0,0 +1,6 @@
+{
+    "((451, 2557), (459, 2557))": {
+        "seg_desc": "Pour the content from the large black and yellow striped bottle to the green mug.",
+        "seg_desc_zh": "将内容从大的黑黄条纹瓶倒到绿色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..4173c108e510dc5553e8dd0dbe13575cfbcfa119
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48.json
@@ -0,0 +1,6 @@
+{
+    "(None, (634, 2704))": {
+        "seg_desc": "Pour the content from the tall blue mug to the bowl.",
+        "seg_desc_zh": "将内容从较高的蓝色马克杯倒到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..a93465ffb51310023aacce9d710271962be8abd5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38.json
@@ -0,0 +1,6 @@
+{
+    "(None, (452, 1089))": {
+        "seg_desc": "Uncap the porcelain teapot.",
+        "seg_desc_zh": "掀开瓷茶壶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d331621b8cf95882cd74ab28350a88ee8f00c0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18.json
@@ -0,0 +1,6 @@
+{
+    "((516, 1112), (516, 1112))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__61886a6456bb8cad10b4__2023-05-09-19-17-58.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__61886a6456bb8cad10b4__2023-05-09-19-17-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..2641125e4b3ee0fd5e41d282bd4d3a1569755209
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__61886a6456bb8cad10b4__2023-05-09-19-17-58.json
@@ -0,0 +1,38 @@
+{
+    "(None, (1476, 2280))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((2180, 3101), None)": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (2372, 3245))": {
+        "seg_desc": "Place the bowl inside the microwave oven.",
+        "seg_desc_zh": "将碗放入微波炉。"
+    },
+    "((3101, 4522), (3437, 4494))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "(None, (4750, 4930))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "(None, (6231, 7276))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((7144, 8348), None)": {
+        "seg_desc": "Hold the microwave oven to the position.",
+        "seg_desc_zh": "用手抓握微波炉并保持位置。"
+    },
+    "(None, (7548, 8224))": {
+        "seg_desc": "Take the bowl outside the microwave oven.",
+        "seg_desc_zh": "将碗拿出微波炉。"
+    },
+    "((8348, 9189), (8348, 9117))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__674e82d8f45bf9d17247__2023-05-09-18-40-09.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__674e82d8f45bf9d17247__2023-05-09-18-40-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..347d40313354bc71894780dacfffbb74298cda78
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__674e82d8f45bf9d17247__2023-05-09-18-40-09.json
@@ -0,0 +1,6 @@
+{
+    "(None, (567, 5561))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the bowl.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..474ca3b0bf21ad8cff3b59321336dab1d6e1d715
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28.json
@@ -0,0 +1,14 @@
+{
+    "(None, (996, 1120))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "(None, (1537, 2601))": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (2870, 3070))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__6803df6444210e558b06__2023-04-23-11-33-27.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__6803df6444210e558b06__2023-04-23-11-33-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..324e3a4ba436bb18dc8aaa62cd4ebffca1d2919d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__6803df6444210e558b06__2023-04-23-11-33-27.json
@@ -0,0 +1,6 @@
+{
+    "((439, 1576), (387, 1548))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__709821691ed6e9de0ecf__2023-04-23-11-38-59.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__709821691ed6e9de0ecf__2023-04-23-11-38-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..f379e9597111ef1d17baa780dcb98c98bff48bee
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__709821691ed6e9de0ecf__2023-04-23-11-38-59.json
@@ -0,0 +1,6 @@
+{
+    "((435, 1612), (423, 1768))": {
+        "seg_desc": "Unscrew the cap of the yellow striped bottle.",
+        "seg_desc_zh": "拧开黄色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__9971521c165f863aae09__2023-05-09-18-50-56.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__9971521c165f863aae09__2023-05-09-18-50-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..3373cb42d17e32e5c8d91daa4fe72836423dc790
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__9971521c165f863aae09__2023-05-09-18-50-56.json
@@ -0,0 +1,10 @@
+{
+    "(None, (924, 2238))": {
+        "seg_desc": "Take the fork outside tool rack.",
+        "seg_desc_zh": "将叉子拿出工具架。"
+    },
+    "(None, (2594, 3699))": {
+        "seg_desc": "Take the spoon outside tool rack.",
+        "seg_desc_zh": "将调羹拿出工具架。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e2cab8f4983c7c916fbc96cc7de332e8445814
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11.json
@@ -0,0 +1,6 @@
+{
+    "((325, 2808), (494, 2732))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..844639688d647ca0faafad3721142509412d8ecf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json
@@ -0,0 +1,6 @@
+{
+    "((1961, 3726), (1044, 4231))": {
+        "seg_desc": "Cut the pear with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切梨。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..0281d32c00eac6f8e1e8f55806c05ff0ae74005b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06.json
@@ -0,0 +1,6 @@
+{
+    "(None, (470, 990))": {
+        "seg_desc": "Cap the porcelain teapot.",
+        "seg_desc_zh": "盖上瓷茶壶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__aef7ccef2947d1344274__2023-05-09-19-04-10.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__aef7ccef2947d1344274__2023-05-09-19-04-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a79a3cf7488f7c794a31b60987f1014ddc211f5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__aef7ccef2947d1344274__2023-05-09-19-04-10.json
@@ -0,0 +1,6 @@
+{
+    "((1722, 4556), (929, 4556))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..087f1455b956189f479071f03b89663cb599d57a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json
@@ -0,0 +1,6 @@
+{
+    "((533, 2370), (533, 2370))": {
+        "seg_desc": "Pour the content from the large black and yellow striped bottle to the green mug.",
+        "seg_desc_zh": "将内容从大的黑黄条纹瓶倒到绿色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb1c734e73f753384c0077de2906ac80f06645b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json
@@ -0,0 +1,6 @@
+{
+    "(None, (734, 3506))": {
+        "seg_desc": "Stir in the tall blue mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在较高的蓝色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ddc88ad928be0eec650fc89d527d9395d8238d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json
@@ -0,0 +1,6 @@
+{
+    "(None, (564, 2485))": {
+        "seg_desc": "Scoop the content with the spoon from the gray-green porcelain bottle to the bowl.",
+        "seg_desc_zh": "用调羹将内容从灰绿色瓷瓶舀到碗。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c2a022325b4cdd51cdb77ed0f3ef583e7b1fe0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33.json
@@ -0,0 +1,6 @@
+{
+    "(None, (385, 3699))": {
+        "seg_desc": "Scoop the content with the spoon from the plate to the green mug.",
+        "seg_desc_zh": "用调羹将内容从碟子舀到绿色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c709d5dd600fb1600f3e1ffd35e03f42461428c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json
@@ -0,0 +1,6 @@
+{
+    "((1285, 2546), (961, 2546))": {
+        "seg_desc": "Pour the content from the gray-green porcelain bottle to the green mug.",
+        "seg_desc_zh": "将内容从灰绿色瓷瓶倒到绿色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce2249386acd15c7cb7726a9119d371fe0d6e342
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json
@@ -0,0 +1,6 @@
+{
+    "((803, 2244), (1059, 1972))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__171c4910388526f5aae1__2023-04-13-19-09-31.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__171c4910388526f5aae1__2023-04-13-19-09-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6694e7613a037f0028a026a56746025def301a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__171c4910388526f5aae1__2023-04-13-19-09-31.json
@@ -0,0 +1,6 @@
+{
+    "((785, 2795), (1001, 2518))": {
+        "seg_desc": "Screw the cap onto the large white bottle.",
+        "seg_desc_zh": "拧紧大的白色瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6151cc54350df2142891fd6c9c2eddb4f6149be
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05.json
@@ -0,0 +1,6 @@
+{
+    "((1120, 3109), (816, 2729))": {
+        "seg_desc": "Cut the bread with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切面包。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..391cedac1223b605225ddf638d78044aebe7848a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39.json
@@ -0,0 +1,6 @@
+{
+    "((1454, 2939), (945, 2907))": {
+        "seg_desc": "Grip the content with the tongs from the plate to the green mug.",
+        "seg_desc_zh": "用夹子将内容从碟子夹到绿色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..55bcf0da81796aee3baa9f464e71685177bb1fbd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04.json
@@ -0,0 +1,6 @@
+{
+    "((741, 2442), (1033, 2418))": {
+        "seg_desc": "Unscrew the cap of the yellow striped bottle.",
+        "seg_desc_zh": "拧开黄色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..79a86296a9c6e8c518497b70f874dbd19215601b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20.json
@@ -0,0 +1,22 @@
+{
+    "(None, (922, 1455))": {
+        "seg_desc": "Place the plate onto the platform of the scale.",
+        "seg_desc_zh": "将碟子放置于秤的平台上。"
+    },
+    "(None, (1679, 1786))": {
+        "seg_desc": "Press the button on the scale.",
+        "seg_desc_zh": "按下秤上的按钮。"
+    },
+    "((2119, 2501), (2143, 2463))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    },
+    "((2501, 4217), (2540, 4173))": {
+        "seg_desc": "Scoop the content with the spoon from the plate to another plate.",
+        "seg_desc_zh": "用调羹将内容从碟子舀到另一个碟子。"
+    },
+    "((4217, 4629), (4261, 4625))": {
+        "seg_desc": "Rearrange the plate from one position to another position.",
+        "seg_desc_zh": "将碟子从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2501290bf9590d752c3f__2023-04-13-20-10-44.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2501290bf9590d752c3f__2023-04-13-20-10-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf71c3df4c64f45d09b390c2375576a9052625d4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2501290bf9590d752c3f__2023-04-13-20-10-44.json
@@ -0,0 +1,6 @@
+{
+    "((721, 3299), (1298, 3299))": {
+        "seg_desc": "Wipe the fryingpan with the sponge.",
+        "seg_desc_zh": "用海绵擦平底锅。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2d90f5832a84b604df3c__2023-04-13-19-18-14.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2d90f5832a84b604df3c__2023-04-13-19-18-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..92d54d643a210e13de5cdee12db669f25ff4cf07
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__2d90f5832a84b604df3c__2023-04-13-19-18-14.json
@@ -0,0 +1,6 @@
+{
+    "((778, 2119), (1227, 2103))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__453b72e65d60f319b672__2023-04-13-19-34-00.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__453b72e65d60f319b672__2023-04-13-19-34-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab3716f71b4b1dc484e864076437d5baba318c2d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__453b72e65d60f319b672__2023-04-13-19-34-00.json
@@ -0,0 +1,6 @@
+{
+    "((661, 1558), (969, 1558))": {
+        "seg_desc": "Place the fork and the spoon inside the plate.",
+        "seg_desc_zh": "将叉子和调羹放入碟子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..961b6eb8ea63c23a831035ae5cd00343052486c1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56.json
@@ -0,0 +1,6 @@
+{
+    "((732, 2730), (1048, 2397))": {
+        "seg_desc": "Screw the cap onto the yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄色条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__598a5433c7f9d14d1697__2023-04-13-20-33-59.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__598a5433c7f9d14d1697__2023-04-13-20-33-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..77972408cde03629d105d41c2478b5bd70002005
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__598a5433c7f9d14d1697__2023-04-13-20-33-59.json
@@ -0,0 +1,6 @@
+{
+    "((1032, 2993), (660, 2861))": {
+        "seg_desc": "Cut the pear with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切梨。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b924546ce10136d5a7a3c9df5cf79b0748e121
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39.json
@@ -0,0 +1,14 @@
+{
+    "((624, 912), None)": {
+        "seg_desc": "Rearrange the bread from one position to another position.",
+        "seg_desc_zh": "将面包从一个位置移动到另一个位置。"
+    },
+    "((999, 1364), (999, 1280))": {
+        "seg_desc": "Rearrange the bread from one position to another position.",
+        "seg_desc_zh": "将面包从一个位置移动到另一个位置。"
+    },
+    "((1364, 3238), (1448, 3314))": {
+        "seg_desc": "Cut the bread with the white cleaver knife.",
+        "seg_desc_zh": "用白色菜刀切面包。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__6713218067ae5432d3f4__2023-04-13-19-19-05.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__6713218067ae5432d3f4__2023-04-13-19-19-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..b074e6c4ccf5cfe14086de6e06f6663ed1b839fd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__6713218067ae5432d3f4__2023-04-13-19-19-05.json
@@ -0,0 +1,14 @@
+{
+    "((757, 1655), (1062, 1655))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((1711, 2063), (1711, 2063))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((2139, 2475), None)": {
+        "seg_desc": "Rearrange the gray-green porcelain bottle from one position to another position.",
+        "seg_desc_zh": "将灰绿色瓷瓶从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__733f97b08b2e1413967d__2023-04-13-19-08-31.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__733f97b08b2e1413967d__2023-04-13-19-08-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5eb7b97750b886c02ff5058f49592dd6c50388
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__733f97b08b2e1413967d__2023-04-13-19-08-31.json
@@ -0,0 +1,6 @@
+{
+    "((815, 2472), (1115, 2476))": {
+        "seg_desc": "Unscrew the cap of the large white bottle.",
+        "seg_desc_zh": "拧开大的白色瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..35fcc06e6c37791bc36f3ab338804aa0d72121eb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json
@@ -0,0 +1,10 @@
+{
+    "(None, (703, 1040))": {
+        "seg_desc": "Assemble the apple together.",
+        "seg_desc_zh": "将苹果组装在一起。"
+    },
+    "((1641, 2225), (1352, 2189))": {
+        "seg_desc": "Assemble the bread together.",
+        "seg_desc_zh": "将面包组装在一起。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..473880f6787524647f4f53c0843dfd5ab489f114
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json
@@ -0,0 +1,6 @@
+{
+    "((1481, 3124), (918, 3011))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..18aa6179e94234dca10fbf096089a81dc612e58f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55.json
@@ -0,0 +1,6 @@
+{
+    "((698, 3432), (1386, 2931))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__8ec658be365180b783c2__2023-04-13-19-04-55.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__8ec658be365180b783c2__2023-04-13-19-04-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..601a147d68f6c8f9e8675da4547b6e455ba3e6cb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__8ec658be365180b783c2__2023-04-13-19-04-55.json
@@ -0,0 +1,6 @@
+{
+    "((1071, 2512), (1555, 2512))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b06bc1039f7cff4f73871aa6a961d65b882be5c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json
@@ -0,0 +1,6 @@
+{
+    "(None, (826, 2053))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffb2fb86a68fa12e0af2658a42f53913c76e44a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json
@@ -0,0 +1,74 @@
+{
+    "(None, (800, 1264))": {
+        "seg_desc": "Rearrange the green mug from one position to another position.",
+        "seg_desc_zh": "将绿色马克杯从一个位置移动到另一个位置。"
+    },
+    "((1720, 3189), (2225, 3237))": {
+        "seg_desc": "Unscrew the cap of the green striped bottle.",
+        "seg_desc_zh": "拧开绿色条纹瓶的盖子。"
+    },
+    "((3189, 4911), (3394, 4963))": {
+        "seg_desc": "Pour the tea powder from the green striped bottle to the green mug.",
+        "seg_desc_zh": "将茶粉从绿色条纹瓶倒到绿色马克杯。"
+    },
+    "((4911, 6292), (5127, 5955))": {
+        "seg_desc": "Screw the cap onto the green striped bottle.",
+        "seg_desc_zh": "拧紧绿色条纹瓶的盖子。"
+    },
+    "((6504, 8341), (6948, 8329))": {
+        "seg_desc": "Unscrew the cap of the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧开大的黑黄条纹瓶的盖子。"
+    },
+    "((8345, 9946), (8449, 10006))": {
+        "seg_desc": "Pour the water from the large black and yellow striped bottle to the green mug.",
+        "seg_desc_zh": "将水从大的黑黄条纹瓶倒到绿色马克杯。"
+    },
+    "((9946, 11399), (10142, 11131))": {
+        "seg_desc": "Screw the cap onto the large black and yellow striped bottle.",
+        "seg_desc_zh": "拧紧大的黑黄条纹瓶的盖子。"
+    },
+    "((11647, 12716), (12164, 12716))": {
+        "seg_desc": "Uncap the gray-green porcelain bottle.",
+        "seg_desc_zh": "掀开灰绿色瓷瓶的盖子。"
+    },
+    "((12716, 13709), (12780, 13693))": {
+        "seg_desc": "Pour the milk powder from the gray-green porcelain bottle to the green mug.",
+        "seg_desc_zh": "将奶粉从灰绿色瓷瓶倒到绿色马克杯。"
+    },
+    "((13713, 14089), (13785, 14089))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((14137, 14301), (14137, 14301))": {
+        "seg_desc": "Cap the gray-green porcelain bottle.",
+        "seg_desc_zh": "盖上灰绿色瓷瓶的盖子。"
+    },
+    "((14349, 14662), (14349, 14662))": {
+        "seg_desc": "Rearrange the gray-green porcelain bottle from one position to another position.",
+        "seg_desc_zh": "将灰绿色瓷瓶从一个位置移动到另一个位置。"
+    },
+    "((15182, 17119), (15322, 17119))": {
+        "seg_desc": "Scoop the sugar with the spoon from the plate to the green mug.",
+        "seg_desc_zh": "用调羹将糖从碟子舀到绿色马克杯。"
+    },
+    "(None, (17588, 18945))": {
+        "seg_desc": "Stir in the green mug with the rod.",
+        "seg_desc_zh": "用搅拌棒在绿色马克杯中搅拌。"
+    },
+    "(None, (19125, 19489))": {
+        "seg_desc": "Hold the tongs to the position.",
+        "seg_desc_zh": "用手抓握夹子并保持位置。"
+    },
+    "((19393, 19645), None)": {
+        "seg_desc": "Hold the tongs to the position.",
+        "seg_desc_zh": "用手抓握夹子并保持位置。"
+    },
+    "(None, (19561, 20890))": {
+        "seg_desc": "Grip the ice cube with the tongs from the plate to the green mug.",
+        "seg_desc_zh": "用夹子将冰块从碟子夹到绿色马克杯。"
+    },
+    "((21467, 23268), (22019, 23083))": {
+        "seg_desc": "Pour the drink from the green mug to the little green cup.",
+        "seg_desc_zh": "将饮料从绿色马克杯倒到绿色小茶杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__9ed971eba20293345ab6__2023-04-13-20-25-04.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__9ed971eba20293345ab6__2023-04-13-20-25-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03dc190e06322ce4c576c9c2b5d176de17db829
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__9ed971eba20293345ab6__2023-04-13-20-25-04.json
@@ -0,0 +1,6 @@
+{
+    "((990, 1983), (690, 1866))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__b9695e35fd3c75db4104__2023-04-13-18-59-44.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__b9695e35fd3c75db4104__2023-04-13-18-59-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..bade6657a8af161b6d6b68c5234b10241f812de2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__b9695e35fd3c75db4104__2023-04-13-18-59-44.json
@@ -0,0 +1,6 @@
+{
+    "((702, 2467), (774, 2447))": {
+        "seg_desc": "Pour the content from the gray-green porcelain bottle to the green mug.",
+        "seg_desc_zh": "将内容从灰绿色瓷瓶倒到绿色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__ced688ab0e1a80840f16__2023-04-13-20-30-37.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__ced688ab0e1a80840f16__2023-04-13-20-30-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..211ded8680d010be8f72ebf7fc2105fc0eb05083
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__ced688ab0e1a80840f16__2023-04-13-20-30-37.json
@@ -0,0 +1,6 @@
+{
+    "((1065, 2826), (736, 2742))": {
+        "seg_desc": "Cut the apple with the white fruit knife.",
+        "seg_desc_zh": "用白色水果刀切苹果。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_01__O001++seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30.json b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a52f13aea9a9097c38d7a9b7c46b62d64b111fc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_01__O001++seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30.json
@@ -0,0 +1,38 @@
+{
+    "((663, 1058), (799, 1020))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((1058, 1332), (1096, 1300))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "(None, (1604, 2237))": {
+        "seg_desc": "Place the plate inside the microwave oven.",
+        "seg_desc_zh": "将碟子放入微波炉。"
+    },
+    "((1948, 2823), (2445, 2745))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    },
+    "((2823, 3085), (2901, 3073))": {
+        "seg_desc": "Press the button on the microwave oven.",
+        "seg_desc_zh": "按下微波炉上的按钮。"
+    },
+    "((4654, 5078), (4862, 4990))": {
+        "seg_desc": "Trigger the lever on the microwave oven.",
+        "seg_desc_zh": "拨动微波炉上的扳机/拉杆。"
+    },
+    "((5078, 6067), (5167, 5331))": {
+        "seg_desc": "Open the gate of the microwave oven.",
+        "seg_desc_zh": "打开微波炉门。"
+    },
+    "((6247, 6391), (5451, 6391))": {
+        "seg_desc": "Take the plate outside the microwave oven.",
+        "seg_desc_zh": "将碟子拿出微波炉。"
+    },
+    "((6632, 7104), (6632, 7016))": {
+        "seg_desc": "Close the gate of the microwave oven.",
+        "seg_desc_zh": "关闭微波炉门。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__03142eab556e3f4d2c60__2023-04-15-18-42-27.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__03142eab556e3f4d2c60__2023-04-15-18-42-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..545d269c686145324fb46c229dde569d509f2977
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__03142eab556e3f4d2c60__2023-04-15-18-42-27.json
@@ -0,0 +1,6 @@
+{
+    "((2424, 3961), (2039, 3933))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__0326b05031e36e846485__2023-04-15-18-46-12.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__0326b05031e36e846485__2023-04-15-18-46-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc13d509afc9b85b1579bce8ee6bf60634a33f5a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__0326b05031e36e846485__2023-04-15-18-46-12.json
@@ -0,0 +1,6 @@
+{
+    "((1512, 3106), (1729, 3014))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..181a6146acfaa3cfcb23532181cb05350072e016
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20.json
@@ -0,0 +1,14 @@
+{
+    "((1509, 2870), (1509, 2870))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((3695, 4748), None)": {
+        "seg_desc": "Take the pencil sharpener outside the box.",
+        "seg_desc_zh": "将卷笔刀拿出盒子。"
+    },
+    "((5324, 6849), (5324, 6849))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__16df147a7132432bf9e4__2023-04-18-15-14-11.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__16df147a7132432bf9e4__2023-04-18-15-14-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..51e121a8263e8daeab7a049610fdc8580d659438
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__16df147a7132432bf9e4__2023-04-18-15-14-11.json
@@ -0,0 +1,10 @@
+{
+    "((1000, 2405), (1016, 2265))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((2625, 3666), (2681, 3666))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..753eedfbb0e0a595faecfcd459ca2e982882ff51
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json
@@ -0,0 +1,50 @@
+{
+    "((2362, 4203), (1509, 3591))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    },
+    "(None, (3699, 4203))": {
+        "seg_desc": "Rearrange the whiteboard from one position to another position.",
+        "seg_desc_zh": "将白板从一个位置移动到另一个位置。"
+    },
+    "(None, (4335, 4696))": {
+        "seg_desc": "Rearrange the whiteboard pen from one position to another position.",
+        "seg_desc_zh": "将白板笔从一个位置移动到另一个位置。"
+    },
+    "(None, (4896, 5348))": {
+        "seg_desc": "Rearrange the whiteboard eraser from one position to another position.",
+        "seg_desc_zh": "将白板擦从一个位置移动到另一个位置。"
+    },
+    "(None, (5548, 6129))": {
+        "seg_desc": "Rearrange the pencil from one position to another position.",
+        "seg_desc_zh": "将铅笔从一个位置移动到另一个位置。"
+    },
+    "(None, (6189, 6293))": {
+        "seg_desc": "Rearrange the pencil from one position to another position.",
+        "seg_desc_zh": "将铅笔从一个位置移动到另一个位置。"
+    },
+    "(None, (7049, 8158))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((8378, 10384), None)": {
+        "seg_desc": "Hold box lid to the position.",
+        "seg_desc_zh": "用手抓握盒盖并保持位置。"
+    },
+    "(None, (8666, 9623))": {
+        "seg_desc": "Place the stapler inside the box.",
+        "seg_desc_zh": "将订书机放入盒子。"
+    },
+    "(None, (10035, 10932))": {
+        "seg_desc": "Place the scissors inside the box.",
+        "seg_desc_zh": "将剪刀放入盒子。"
+    },
+    "((11232, 12365), (11232, 12910))": {
+        "seg_desc": "Place the paper inside the box.",
+        "seg_desc_zh": "将纸放入盒子。"
+    },
+    "((13418, 14995), (13418, 14995))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e7c73dd2879430c6b922b3f90796f8f2258bdb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json
@@ -0,0 +1,34 @@
+{
+    "((1631, 2555), (1507, 2531))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (2883, 3532))": {
+        "seg_desc": "Take the pencil outside the drawer.",
+        "seg_desc_zh": "将铅笔拿出抽屉。"
+    },
+    "(None, (3532, 3976))": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((3812, 4453), None)": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((4669, 5838), (4349, 5914))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((5866, 7507), (6206, 8063))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((7687, 9917), (8544, 10121))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((10433, 13463), (10125, 13327))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__25281b1248ce06ef00f4__2023-04-15-18-50-17.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__25281b1248ce06ef00f4__2023-04-15-18-50-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab259ea4317fbd793352abf169dccc403eb6b845
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__25281b1248ce06ef00f4__2023-04-15-18-50-17.json
@@ -0,0 +1,6 @@
+{
+    "((1299, 2708), (1535, 2912))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__3599b99612c08fedc88a__2023-04-15-18-43-51.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__3599b99612c08fedc88a__2023-04-15-18-43-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c6ef32d1645985287f98c551589bf80bc30d16f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__3599b99612c08fedc88a__2023-04-15-18-43-51.json
@@ -0,0 +1,6 @@
+{
+    "((2085, 3786), (1809, 3818))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__374a762fe82568017e36__2023-04-15-19-44-49.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__374a762fe82568017e36__2023-04-15-19-44-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..7558061c3cdf1522df37e5c16561bdd914e500ee
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__374a762fe82568017e36__2023-04-15-19-44-49.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1089, 3063))": {
+        "seg_desc": "Plug in the power plug",
+        "seg_desc_zh": "插入电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__379379a9898fec9a49dd__2023-04-15-19-14-26.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__379379a9898fec9a49dd__2023-04-15-19-14-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..97fc404a7a3737d86f38676084be448f414dd070
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__379379a9898fec9a49dd__2023-04-15-19-14-26.json
@@ -0,0 +1,6 @@
+{
+    "((2510, 3875), (1530, 3875))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4095256153f086ed7e72__2023-04-15-19-45-48.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4095256153f086ed7e72__2023-04-15-19-45-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f2c53c133852e28e0727f45b4e5520cfb744bc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4095256153f086ed7e72__2023-04-15-19-45-48.json
@@ -0,0 +1,6 @@
+{
+    "((1159, 3004), (1619, 2864))": {
+        "seg_desc": "Remove the power plug",
+        "seg_desc_zh": "移除电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4330d8d30c1293560d96__2023-04-15-19-04-36.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4330d8d30c1293560d96__2023-04-15-19-04-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdfecf1f81f894bc271d193d38f5319c86d8b239
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4330d8d30c1293560d96__2023-04-15-19-04-36.json
@@ -0,0 +1,14 @@
+{
+    "((1454, 3595), (1454, 3595))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((4232, 4956), None)": {
+        "seg_desc": "Place the pencil sharpener inside the box.",
+        "seg_desc_zh": "将卷笔刀放入盒子。"
+    },
+    "((5757, 7202), (5757, 7202))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeae109c5263c738ea4b6f978aac71442bc2df63
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json
@@ -0,0 +1,14 @@
+{
+    "((1176, 3153), (1448, 2745))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((3290, 5035), (2993, 5503))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((5299, 6788), (5659, 6756))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecbc9757f55bbdd9f329ed4ba9d187c12cc312a3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json
@@ -0,0 +1,6 @@
+{
+    "((1679, 3884), (1635, 3884))": {
+        "seg_desc": "Close the book.",
+        "seg_desc_zh": "合上书"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..7540d3e96bc7541e1b1c7858e316c5aed3d88d54
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json
@@ -0,0 +1,6 @@
+{
+    "((2181, 3605), (1491, 3553))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..1669464274ffe9dfca904372f18a37021c760011
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json
@@ -0,0 +1,6 @@
+{
+    "((2972, 8578), (3032, 8524))": {
+        "seg_desc": "Remove the lightbulb from the lamp.",
+        "seg_desc_zh": "将灯泡从设备上卸下"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b2244f96353e9c42ea4867f146d19ed7d060d4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json
@@ -0,0 +1,6 @@
+{
+    "((2968, 7415), (1474, 7259))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f849b291007cc952a05a7237b5906a9b679d08
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json
@@ -0,0 +1,6 @@
+{
+    "((1388, 2681), (2357, 2681))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..29c116941c19fc12e036be5a87b17473c421fc3e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json
@@ -0,0 +1,22 @@
+{
+    "((1742, 2375), (1374, 2807))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((2715, 3244), None)": {
+        "seg_desc": "Hold the pen to the position.",
+        "seg_desc_zh": "用手抓握笔并保持位置。"
+    },
+    "((3664, 5581), (3167, 6734))": {
+        "seg_desc": "Write with the pen on the paper.",
+        "seg_desc_zh": "用笔在纸上书写。"
+    },
+    "((5857, 7062), None)": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (6874, 7887))": {
+        "seg_desc": "Rearrange the pen from one position to another position.",
+        "seg_desc_zh": "将笔从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..053932385e6077dd7d3f63f3aa2fd4b80794b264
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
@@ -0,0 +1,14 @@
+{
+    "((1193, 1489), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((1641, 2894), (2005, 3206))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "(None, (3250, 3639))": {
+        "seg_desc": "Press the button on the laptop.",
+        "seg_desc_zh": "按下笔记本电脑上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..de16914177857a87939aee1a792befc34682b11e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json
@@ -0,0 +1,6 @@
+{
+    "((1676, 3661), (1956, 3473))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a96d97382fa0adf93237944d7dff839f9019f9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json
@@ -0,0 +1,18 @@
+{
+    "((1387, 1667), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((2415, 3680), (2415, 3680))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (3880, 4861))": {
+        "seg_desc": "Place the tape inside the box.",
+        "seg_desc_zh": "将胶带放入盒子。"
+    },
+    "((5365, 6606), (5365, 6606))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca4d161a7c90e9a4a325a662590802ae257060d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json
@@ -0,0 +1,6 @@
+{
+    "((2373, 4645), (2491, 4573))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d609a1e181dffada3ecb0e47e14a94a08824fa0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json
@@ -0,0 +1,14 @@
+{
+    "((1193, 2526), (1766, 2494))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (2923, 4424))": {
+        "seg_desc": "Place the pencil inside the drawer.",
+        "seg_desc_zh": "将铅笔放入抽屉。"
+    },
+    "((5220, 5809), (4724, 5845))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..3720a782fd7481ed84fc40ea6e7a9d889d1d7152
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
@@ -0,0 +1,46 @@
+{
+    "((1481, 2610), (1481, 2610))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (2838, 3415))": {
+        "seg_desc": "Take the flower outside the box.",
+        "seg_desc_zh": "将花拿出盒子。"
+    },
+    "(None, (3415, 4143))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((4700, 5444), (4700, 5384))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((5608, 5837), None)": {
+        "seg_desc": "Hold the usb stick to the position.",
+        "seg_desc_zh": "用手抓握usb存储并保持位置。"
+    },
+    "(None, (5785, 5993))": {
+        "seg_desc": "Hold the usb stick to the position.",
+        "seg_desc_zh": "用手抓握usb存储并保持位置。"
+    },
+    "((5885, 7554), (6313, 7606))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "(None, (8122, 8915))": {
+        "seg_desc": "Take the gamecontroler outside the box.",
+        "seg_desc_zh": "将游戏手柄拿出盒子。"
+    },
+    "((9179, 10032), (9179, 10032))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((10444, 11140), (10552, 11213))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((11293, 11593), (11281, 11605))": {
+        "seg_desc": "Use the gamecontroller to control the laptop.",
+        "seg_desc_zh": "用游戏手柄控制笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fd44bf0df001da51dadebaab0de438ef3940786
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
@@ -0,0 +1,14 @@
+{
+    "((4062, 8399), (3017, 8321))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "((11447, 12276), (10303, 12712))": {
+        "seg_desc": "Plug in the power plug of the lamp.",
+        "seg_desc_zh": "插入台灯的电源插头。"
+    },
+    "(None, (15114, 15514))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d39f75f0b128a2c75769f5fd217a979e33b3c8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
@@ -0,0 +1,42 @@
+{
+    "((1128, 2098), (1128, 2098))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((2703, 3391), (2703, 3359))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    },
+    "((3757, 4512), (3757, 4552))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((5117, 6009), (5117, 6009))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (6165, 6718))": {
+        "seg_desc": "Place the mouse inside the box.",
+        "seg_desc_zh": "将鼠标放入盒子。"
+    },
+    "((7146, 7726), (7114, 8111))": {
+        "seg_desc": "Place the gamecontroler inside the box.",
+        "seg_desc_zh": "将游戏手柄放入盒子。"
+    },
+    "(None, (8379, 9404))": {
+        "seg_desc": "Place the flower inside the box.",
+        "seg_desc_zh": "将花放入盒子。"
+    },
+    "((9797, 10505), (9797, 10505))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((10573, 11097), (10573, 11097))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "(None, (11498, 11705))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3c2feb0de7cc5e1b9d3e7e094aeb7090ff55e5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
@@ -0,0 +1,14 @@
+{
+    "((1404, 4731), (1524, 4663))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((5476, 11043), (6248, 10985))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((11986, 14693), (12706, 14607))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a02b0af2af54ff0c976c794c12f8590c65cf85b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
@@ -0,0 +1,14 @@
+{
+    "((1308, 1573), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "(None, (1857, 2369))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((2089, 3034), (2441, 3034))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5587cde964b956d1bdf77dfc4933a83d0ba6b69
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
@@ -0,0 +1,22 @@
+{
+    "((943, 2255), (1119, 2211))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((2784, 4713), None)": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((4713, 5021), (4713, 4853))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((5021, 6098), (5190, 6098))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((6623, 8368), (6623, 8368))": {
+        "seg_desc": "Use the gamecontroller to control the laptop.",
+        "seg_desc_zh": "用游戏手柄控制笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..57b42592c54fb5e85e6a71b45d4f49a50478e823
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json
@@ -0,0 +1,18 @@
+{
+    "((2035, 2890), (1298, 3222))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((3030, 3695), None)": {
+        "seg_desc": "Hold the whiteboard pen to the position.",
+        "seg_desc_zh": "用手抓握白板笔并保持位置。"
+    },
+    "(None, (3563, 5387))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((5387, 6280), (5387, 6876))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f1ae2794e331e206029ce406497409b072d6d2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json
@@ -0,0 +1,14 @@
+{
+    "((1328, 2538), (1384, 2538))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (2990, 4243))": {
+        "seg_desc": "Take the pencil outside the drawer.",
+        "seg_desc_zh": "将铅笔拿出抽屉。"
+    },
+    "((4883, 5700), (4623, 5700))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33b0dc4ff1a806cd04b1a61f12d2f673a88d1fd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json
@@ -0,0 +1,18 @@
+{
+    "((1735, 2080), (1698, 2404))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((2284, 2981), None)": {
+        "seg_desc": "Hold the whiteboard pen to the position.",
+        "seg_desc_zh": "用手抓握白板笔并保持位置。"
+    },
+    "(None, (2737, 6668))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((7308, 7661), (6668, 7661))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..814be54c17b607afcd245ec2481dcb1f33c536c0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
@@ -0,0 +1,10 @@
+{
+    "((1045, 1401), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((1810, 2798), (1990, 2798))": {
+        "seg_desc": "Remove the power plug of the lamp.",
+        "seg_desc_zh": "移除台灯的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..726723b7e8de9277395f4b71a0c83c46082e5599
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
@@ -0,0 +1,38 @@
+{
+    "((1961, 3058), (1405, 3058))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((3518, 4767), (3518, 4857))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((4947, 5143), (4857, 5143))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((5147, 6965), (5460, 6901))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((6965, 7697), (7173, 7653))": {
+        "seg_desc": "Use the mouse to control the laptop.",
+        "seg_desc_zh": "用鼠标控制笔记本电脑。"
+    },
+    "((7809, 8462), (7809, 8462))": {
+        "seg_desc": "Use the keyboard to control the laptop.",
+        "seg_desc_zh": "用键盘控制笔记本电脑。"
+    },
+    "((8562, 9394), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "(None, (8730, 9354))": {
+        "seg_desc": "Use the mouse to control the laptop.",
+        "seg_desc_zh": "用鼠标控制笔记本电脑。"
+    },
+    "((9535, 10027), (9535, 10027))": {
+        "seg_desc": "Use the keyboard to control the laptop.",
+        "seg_desc_zh": "用键盘控制笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..221769f6b6e3536c40dbcfa5e8deeff8a381d049
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
@@ -0,0 +1,26 @@
+{
+    "((1402, 1446), (1402, 1446))": {
+        "seg_desc": "Use the keyboard to control the laptop.",
+        "seg_desc_zh": "用键盘控制笔记本电脑。"
+    },
+    "((1450, 2063), (1550, 1863))": {
+        "seg_desc": "Press the button on the laptop.",
+        "seg_desc_zh": "按下笔记本电脑上的按钮。"
+    },
+    "((2063, 2779), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((2883, 4216), (2627, 4040))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((4380, 4637), (4380, 5365))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((6434, 7415), (6434, 7415))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f83111f8315cbbcc1271d5954526998a7371746
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json
@@ -0,0 +1,6 @@
+{
+    "(None, (2431, 2931))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eadea7dc32126b9a7aa4fdc0d86469d830d693b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json
@@ -0,0 +1,18 @@
+{
+    "((1399, 1692), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((2376, 3193), (2376, 3193))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((3869, 4710), (3869, 4710))": {
+        "seg_desc": "Take the tape outside the box.",
+        "seg_desc_zh": "将胶带拿出盒子。"
+    },
+    "((4994, 6055), (4994, 6055))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3c9aed27de15f3cccf58abae259e7bbca6137d6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
@@ -0,0 +1,22 @@
+{
+    "((1546, 2318), (1113,2571))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((2819, 3331), (2571, 5693))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((5889, 7230), (5693, 7230))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((8271, 13647), (8939, 13647))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((15112, 16108), (14231, 16761))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..0140eb3486755f76afa74305ca03766ed513284e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json
@@ -0,0 +1,6 @@
+{
+    "((2435, 4076), (1366, 4661))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f2e232108309db8b4f6eed372a0941a4d965c7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json
@@ -0,0 +1,10 @@
+{
+    "((1882, 2809), (1958, 2755))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "(None, (2863, 4476))": {
+        "seg_desc": "Rearrange the stapler from one position to another position.",
+        "seg_desc_zh": "将订书机从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..220efed6c39356113385839d23860b7396198ded
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json
@@ -0,0 +1,6 @@
+{
+    "((860, 1665), (872, 1709))": {
+        "seg_desc": "Remove the power plug",
+        "seg_desc_zh": "移除电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe58aeb9125ca68efc4a1d7968bad7631d86983
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json
@@ -0,0 +1,6 @@
+{
+    "((674, 1539), (682, 1635))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b6ecd679506626ff8e02105fc2dcabd4e662066
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json
@@ -0,0 +1,6 @@
+{
+    "((1169, 2916), (1271, 2916))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a28114317a973d7227389eeb51c51635c4dfe45
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json
@@ -0,0 +1,6 @@
+{
+    "(None, (780, 2642))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..098fa7812e83ebdebe39d1012d543fed201045ec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json
@@ -0,0 +1,6 @@
+{
+    "(None, (840, 2871))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ce7f9b43b81066f309a6eba74982ff91149b4b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json
@@ -0,0 +1,14 @@
+{
+    "((851, 1320), (979, 1264))": {
+        "seg_desc": "Rearrange the lamp from one position to another position.",
+        "seg_desc_zh": "将台灯从一个位置移动到另一个位置。"
+    },
+    "((1916, 3793), (1988, 3781))": {
+        "seg_desc": "Remove the lightbulb from the lamp.",
+        "seg_desc_zh": "将灯泡从设备上卸下"
+    },
+    "((4378, 4666), (4402, 4658))": {
+        "seg_desc": "Rearrange the lamp from one position to another position.",
+        "seg_desc_zh": "将台灯从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..2973912ccbc62bc54bf1c6cd4a7bfe50147acb4c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json
@@ -0,0 +1,22 @@
+{
+    "((1013, 1450), (825, 1450))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((1450, 2115), None)": {
+        "seg_desc": "Hold pen cap to the position.",
+        "seg_desc_zh": "用手抓握笔盖并保持位置。"
+    },
+    "(None, (1450, 2115))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((2115, 2783), (2115, 2671))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (2739, 3147))": {
+        "seg_desc": "Rearrange the whiteboard pen from one position to another position.",
+        "seg_desc_zh": "将白板笔从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..355970ddc3df10689eb98a9003feecf6089dbfcd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json
@@ -0,0 +1,6 @@
+{
+    "((669, 1334), (777, 1334))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..2de0cdf2d128b230752395dea4ea45e36c160082
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json
@@ -0,0 +1,6 @@
+{
+    "((863, 2488), (923, 2488))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..054dcfd46a021c937d38bce0a0b4b3a971025603
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json
@@ -0,0 +1,6 @@
+{
+    "((733, 1225), (777, 1225))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..f590f1c1173de245ed88c64a1451ba35294e0b48
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json
@@ -0,0 +1,6 @@
+{
+    "((360, 1241), (773, 1241))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bcec9a706d571037a295a4845a98e37acbc65b3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json
@@ -0,0 +1,10 @@
+{
+    "((894, 1527), (1166, 1735))": {
+        "seg_desc": "Open the book.",
+        "seg_desc_zh": "打开书"
+    },
+    "((1635, 2227), (1991, 2247))": {
+        "seg_desc": "Rearrange the book from one position to another position.",
+        "seg_desc_zh": "将书从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e038b656565a4725b86e8ef5d170463da11c5d5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json
@@ -0,0 +1,14 @@
+{
+    "((780, 1280), (780, 1300))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1352, 1881), None)": {
+        "seg_desc": "Place the tape inside the box.",
+        "seg_desc_zh": "将胶带放入盒子。"
+    },
+    "((2145, 2865), (2145, 2865))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ebd27be3f9055995bec5bf1c217637322e088f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json
@@ -0,0 +1,6 @@
+{
+    "((636, 1153), (809, 1193))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be69bbd6d564b4b779feb5cc585c3c43c506fbf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json
@@ -0,0 +1,14 @@
+{
+    "((876, 1357), (876, 1385))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1617, 2061), None)": {
+        "seg_desc": "Take the tape outside the box.",
+        "seg_desc_zh": "将胶带拿出盒子。"
+    },
+    "((2281, 2818), (2253, 2858))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e685873fb3d11799e858b5fe6e9415c28b08057
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json
@@ -0,0 +1,22 @@
+{
+    "((1360, 1592), (1024, 1592))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "(None, (1592, 2769))": {
+        "seg_desc": "Write with the pen on the paper.",
+        "seg_desc_zh": "用笔在纸上书写。"
+    },
+    "((1592, 2769), None)": {
+        "seg_desc": "Hold pen cap to the position.",
+        "seg_desc_zh": "用手抓握笔盖并保持位置。"
+    },
+    "((2769, 3173), (2769, 3013))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (3157, 3486))": {
+        "seg_desc": "Rearrange the pen from one position to another position.",
+        "seg_desc_zh": "将笔从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee319e8cf03ef44cc05b89341efffd5f7b128296
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json
@@ -0,0 +1,14 @@
+{
+    "((1022, 1665), (946, 1595))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1665, 2359), (1735, 2255))": {
+        "seg_desc": "Take the tape outside the drawer.",
+        "seg_desc_zh": "将胶带拿出抽屉。"
+    },
+    "((2359, 2968), (2463, 2968))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..00600bdecbde24ce086e71ac2f498e98267fb690
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json
@@ -0,0 +1,6 @@
+{
+    "((747, 2304), (747, 2304))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5a47fd99379d7083ccdfa2c29a9df9110ca359
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json
@@ -0,0 +1,10 @@
+{
+    "((1509, 1993), (941, 1993))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((2097, 2858), (2097, 2858))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..85240e870fd3fc847c216a7ed7df6ff08efe7633
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json
@@ -0,0 +1,6 @@
+{
+    "((746, 1158), (746, 1158))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..045cb0b2bddf47844deaeb786523fc572fb184f2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json
@@ -0,0 +1,6 @@
+{
+    "((805, 3379), (1213, 3863))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb5d440ee88dc0553cd867e65955e5beddf10d14
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json
@@ -0,0 +1,6 @@
+{
+    "((742, 1431), (754, 1415))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb314ad48c2afeec75228c8a7e9a3d526b5df5a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json
@@ -0,0 +1,14 @@
+{
+    "((1085, 2057), (784, 2109))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "(None, (2109, 3474))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((3554, 4163), (3474, 4519))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..f06153b2a4a5bc7545a8f01fb726691a48cae4a7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json
@@ -0,0 +1,6 @@
+{
+    "(None, (837, 2671))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2937283ed16d65b5575c08a2cb4de85c6ddc5fa
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json
@@ -0,0 +1,6 @@
+{
+    "((879, 995), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..958a42622bf8b3355a0448b41e1c9978c91ed7fb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json
@@ -0,0 +1,6 @@
+{
+    "((656, 1352), (812, 1388))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84ad893076693fedcb82928ba6b1f19b5734ad9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json
@@ -0,0 +1,6 @@
+{
+    "(None, (769, 1678))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e3da12f930cd84beb411fac2fc46cafdeabfdd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json
@@ -0,0 +1,6 @@
+{
+    "((1359, 1711), (855, 1711))": {
+        "seg_desc": "Plug in the power plug",
+        "seg_desc_zh": "插入电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f1a9d3b73b819b1862f8a6ead9e3dbc2045dee
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json
@@ -0,0 +1,14 @@
+{
+    "((844, 1505), (844, 1505))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (1701, 2133))": {
+        "seg_desc": "Place the tape inside the drawer.",
+        "seg_desc_zh": "将胶带放入抽屉。"
+    },
+    "((2345, 2793), (2237, 2797))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..45652a65fb1e83d02bc79ee964b334e07890f605
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json
@@ -0,0 +1,10 @@
+{
+    "((1290, 4340), (836, 4652))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((4552, 4921), None)": {
+        "seg_desc": "Rearrange the scissors from one position to another position.",
+        "seg_desc_zh": "将剪刀从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..557e8d0009f5ed2360b8c2a5585554dfe191cf9d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json
@@ -0,0 +1,14 @@
+{
+    "((740, 2049), (692, 2009))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    },
+    "((2049, 2225), (2089, 2225))": {
+        "seg_desc": "Rearrange the usb hub from one position to another position.",
+        "seg_desc_zh": "将usb扩展坞从一个位置移动到另一个位置。"
+    },
+    "((2277, 2341), (2277, 2341))": {
+        "seg_desc": "Rearrange the usb hub from one position to another position.",
+        "seg_desc_zh": "将usb扩展坞从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..255874287d5655cb5cd1a7d31ab01275b23852e6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json
@@ -0,0 +1,14 @@
+{
+    "((1896, 4481), (1896, 4157))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "((4533, 4786), (4261, 5070))": {
+        "seg_desc": "Hold the lamp to the position.",
+        "seg_desc_zh": "用手抓握台灯并保持位置。"
+    },
+    "((4850, 5918), (5230, 5898))": {
+        "seg_desc": "Hold the lamp to the position.",
+        "seg_desc_zh": "用手抓握台灯并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..9029e231a08c5a946815ab734cf33a998a79e565
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
@@ -0,0 +1,42 @@
+{
+    "((695, 995), (843, 995))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((995, 1812), (995, 1812))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((1812, 2240), (1812, 2088))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((2436, 3409), (2252, 3409))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "(None, (4558, 4890))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (4966, 5290))": {
+        "seg_desc": "Take the stapler outside the drawer.",
+        "seg_desc_zh": "将订书机拿出抽屉。"
+    },
+    "((5464, 6391), (5494, 6391))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "(None, (6391, 6699))": {
+        "seg_desc": "Place the stapler inside the drawer.",
+        "seg_desc_zh": "将订书机放入抽屉。"
+    },
+    "(None, (6779, 6991))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((7764, 8264), (7556, 8244))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..76a75cb885c6af970794f6d22a4730336b0410e0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json
@@ -0,0 +1,6 @@
+{
+    "((929, 1934), (937, 2058))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3521dd19d8a725e9439c48c75ed06c30494bf83
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
@@ -0,0 +1,30 @@
+{
+    "((992, 1580), (972, 1596))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((1744, 2517), (1744, 2517))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((2677, 3322), (2709, 3222))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    },
+    "(None, (3578, 3686))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "(None, (3914, 4298))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((4062, 4863), (4390, 4799))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((4863, 5179), (4927, 5183))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..15710004af08a14affd90a8a139aa637f2f24434
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json
@@ -0,0 +1,22 @@
+{
+    "((991, 2048), (631, 2224))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((2184, 2368), None)": {
+        "seg_desc": "Hold the whiteboard pen to the position.",
+        "seg_desc_zh": "用手抓握白板笔并保持位置。"
+    },
+    "((2696, 4125), (2312, 4249))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((4345, 5326), (4249, 5098))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (5162, 5550))": {
+        "seg_desc": "Rearrange the whiteboard pen from one position to another position.",
+        "seg_desc_zh": "将白板笔从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c94a52caa868c5c7add6792036530694626e847
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json
@@ -0,0 +1,18 @@
+{
+    "((716, 1092), None)": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1124, 1292), (800, 1264))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1408, 1881), (1408, 1761))": {
+        "seg_desc": "Take the mouse outside the drawer.",
+        "seg_desc_zh": "将鼠标拿出抽屉。"
+    },
+    "((1957, 2153), (1957, 2153))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e7a56ae8f19087dd598183298f34b9af059088
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29.json
@@ -0,0 +1,6 @@
+{
+    "((851, 2096), (687, 2088))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a46ec9061dd054c43a96807e2cd4972c7e3d03
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59.json
@@ -0,0 +1,14 @@
+{
+    "((905, 1137), None)": {
+        "seg_desc": "Rearrange the laptop from one position to another position.",
+        "seg_desc_zh": "将笔记本电脑从一个位置移动到另一个位置。"
+    },
+    "((1233, 1974), (965, 1934))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((2206, 2490), (2174, 2510))": {
+        "seg_desc": "Rearrange the laptop from one position to another position.",
+        "seg_desc_zh": "将笔记本电脑从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..326479f1179e9bdb6fc37b13e2742549155cae2a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json
@@ -0,0 +1,74 @@
+{
+    "((998, 1914), (922, 1562))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1662, 2198))": {
+        "seg_desc": "Take the lightbulb outside the box.",
+        "seg_desc_zh": "将灯泡拿出盒子。"
+    },
+    "((2010, 2258), None)": {
+        "seg_desc": "Rearrange the lightbulb from one position to another position.",
+        "seg_desc_zh": "将灯泡从一个位置移动到另一个位置。"
+    },
+    "((2831, 3059), (2515, 3035))": {
+        "seg_desc": "Take the flower outside the box.",
+        "seg_desc_zh": "将花拿出盒子。"
+    },
+    "((3179, 3571), (3095, 3660))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "(None, (3804, 4208))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((4380, 4784), None)": {
+        "seg_desc": "Rearrange the lamp from one position to another position.",
+        "seg_desc_zh": "将台灯从一个位置移动到另一个位置。"
+    },
+    "((4828, 7995), (4800, 8071))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "(None, (8175, 8275))": {
+        "seg_desc": "Hold the lamp to the position.",
+        "seg_desc_zh": "用手抓握台灯并保持位置。"
+    },
+    "((9055, 9300), (9155, 9300))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((9300, 9756), (9372, 9748))": {
+        "seg_desc": "Take the pencil outside the drawer.",
+        "seg_desc_zh": "将铅笔拿出抽屉。"
+    },
+    "((9756, 9996), (9856, 9984))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((10088, 10757), (10160, 10732))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((10845, 11593), (10817, 11629))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((11745, 12198), (11729, 12158))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "(None, (12158, 12694))": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((12310, 12606), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((12694, 16457), (12694, 16388))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5844a24008c2bda16ac4__2023-04-26-20-20-51.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5844a24008c2bda16ac4__2023-04-26-20-20-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f7d7eccbd7438c2e65dc15dd16240a4ae81a5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5844a24008c2bda16ac4__2023-04-26-20-20-51.json
@@ -0,0 +1,6 @@
+{
+    "((1130, 3499), (1130, 3107))": {
+        "seg_desc": "Remove the lightbulb from the lamp.",
+        "seg_desc_zh": "将灯泡从设备上卸下"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b9722694ba3183ce65ff66fe5edc848c7d7a498
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json
@@ -0,0 +1,58 @@
+{
+    "((905, 1089), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((1329, 1902), (1469, 1741))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((2050, 3026), (1741, 3006))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((3026, 3819), (3122, 3751))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    },
+    "((3819, 4784), (3843, 4744))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((4784, 5795), (4864, 5716))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    },
+    "((5795, 6637), (5820, 6637))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((6737, 7341), (6637, 7053))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((7434, 7818), (7225, 7758))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((7866, 8550), (7866, 8574))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((8662, 9011), (8662, 9023))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((9143, 10608), (9023, 10828))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((11156, 16784), (10956, 16536))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((17393, 18269), (17305, 18153))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5cb937c572504e2267d0__2023-04-26-20-30-59.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5cb937c572504e2267d0__2023-04-26-20-30-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..6911bf85ca2aff58b3819278e68fb33d3fac9a0a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5cb937c572504e2267d0__2023-04-26-20-30-59.json
@@ -0,0 +1,6 @@
+{
+    "(None, (756, 856))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..a897eaf473274df6163c3e6624b28b1f9f0fe2b8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02.json
@@ -0,0 +1,14 @@
+{
+    "((745, 2082), (1190, 1962))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((2146, 3103), (2074, 3119))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((3519, 4072), (3439, 3984))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8023eb71f36d188152ea8805b4fb7fc08404118
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10.json
@@ -0,0 +1,18 @@
+{
+    "((716, 1076), None)": {
+        "seg_desc": "Rearrange the power socket from one position to another position.",
+        "seg_desc_zh": "将电源插座从一个位置移动到另一个位置。"
+    },
+    "((1841, 2133), (1293, 2293))": {
+        "seg_desc": "Hold the power plug to the position.",
+        "seg_desc_zh": "用手抓握电源插头并保持位置。"
+    },
+    "((2257, 2437), None)": {
+        "seg_desc": "Hold the power plug to the position.",
+        "seg_desc_zh": "用手抓握电源插头并保持位置。"
+    },
+    "((2593, 3142), (2397, 2962))": {
+        "seg_desc": "Plug in the power plug",
+        "seg_desc_zh": "插入电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d158dfbe5188455bc24bb37c4275f640c583c60
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json
@@ -0,0 +1,10 @@
+{
+    "((1196, 1885), (951, 1905))": {
+        "seg_desc": "Plug in the power plug of the lamp.",
+        "seg_desc_zh": "插入台灯的电源插头。"
+    },
+    "(None, (2266, 2386))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__817fbb3e3627c6d80646__2023-04-26-20-51-54.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__817fbb3e3627c6d80646__2023-04-26-20-51-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb0eefe3f682493f818745b205e3e58424d3a4f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__817fbb3e3627c6d80646__2023-04-26-20-51-54.json
@@ -0,0 +1,6 @@
+{
+    "((1224, 3313), (776, 3265))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85c7567f204b8a818e690bb0034e54bb3a44525
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json
@@ -0,0 +1,30 @@
+{
+    "((837, 966), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((1095, 1624), (1264, 1624))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((1624, 2629), None)": {
+        "seg_desc": "Hold pen cap to the position.",
+        "seg_desc_zh": "用手抓握笔盖并保持位置。"
+    },
+    "(None, (1624, 2629))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((2629, 3325), (2629, 2949))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((3453, 6099), (3217, 6816))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((7060, 8277), (7060, 8197))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..3434423e3bb8523d846a9cc149aacfa59d157a11
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37.json
@@ -0,0 +1,6 @@
+{
+    "(None, (691, 1588))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff1862af8803a71cae6875ea2764d5784411c572
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json
@@ -0,0 +1,46 @@
+{
+    "((1078, 1238), (826, 1238))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1238, 1774), (1354, 1750))": {
+        "seg_desc": "Take the scissors outside the drawer.",
+        "seg_desc_zh": "将剪刀拿出抽屉。"
+    },
+    "((1774, 2143), (1798, 2131))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((2471, 2583), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((2727, 2927), None)": {
+        "seg_desc": "Hold the whiteboard to the position.",
+        "seg_desc_zh": "用手抓握白板并保持位置。"
+    },
+    "(None, (2831, 3019))": {
+        "seg_desc": "Hold the whiteboard pen to the position.",
+        "seg_desc_zh": "用手抓握白板笔并保持位置。"
+    },
+    "((2991, 3195), (3051, 3195))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((3195, 4032), (3195, 4032))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((4032, 4632), (4032, 4360))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((4913, 8111), (4873, 8275))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((8611, 9648), (8799, 9612))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__988f47650371f35d6001__2023-04-26-20-39-46.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__988f47650371f35d6001__2023-04-26-20-39-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c382d3d083061ee8967e84830d68d4990ee8031
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__988f47650371f35d6001__2023-04-26-20-39-46.json
@@ -0,0 +1,14 @@
+{
+    "((1091, 1632), (955, 1668))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1784, 2248), (1808, 2208))": {
+        "seg_desc": "Place the pencil sharpener inside the box.",
+        "seg_desc_zh": "将卷笔刀放入盒子。"
+    },
+    "((2404, 3025), (2464, 3025))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..c161acfb1bd77e65be239039c0939403c915a801
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json
@@ -0,0 +1,54 @@
+{
+    "((1057, 1377), (1057, 1749))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((1465, 1873), None)": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((1977, 2526), (1897, 2582))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((2634, 2706), (2586, 2746))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((2826, 3410), (2886, 3346))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    },
+    "(None, (3699, 3799))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((4067, 4415), (4031, 4435))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((4871, 5096), (4551, 5092))": {
+        "seg_desc": "Take the drawer outside the box.",
+        "seg_desc_zh": "将抽屉拿出盒子。"
+    },
+    "((5100, 5494), (5140, 5428))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((5494, 6214), (5560, 6180))": {
+        "seg_desc": "Place the gamecontroler inside the drawer.",
+        "seg_desc_zh": "将游戏手柄放入抽屉。"
+    },
+    "((6214, 6505), (6248, 6485))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((6505, 7269), (6557, 7397))": {
+        "seg_desc": "Place the drawer inside the box.",
+        "seg_desc_zh": "将抽屉放入盒子。"
+    },
+    "((7709, 7986), (7537, 7978))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..dde6f994a89f0aef20248ba20824c0746052b1d9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
@@ -0,0 +1,50 @@
+{
+    "((2393, 2813), (2369, 2701))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((2813, 3130), (2813, 3314))": {
+        "seg_desc": "Take the lightbulb outside the drawer.",
+        "seg_desc_zh": "将灯泡拿出抽屉。"
+    },
+    "((3314, 5475), (3314, 5483))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "((5936, 6812), (5960, 6768))": {
+        "seg_desc": "Rearrange the lamp from one position to another position.",
+        "seg_desc_zh": "将台灯从一个位置移动到另一个位置。"
+    },
+    "((7100, 7773), (7128, 7681))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((7893, 8914), (7977, 8898))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((9018, 9210), (9002, 9206))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((9214, 9622), (9270, 9670))": {
+        "seg_desc": "Take the mouse outside the drawer.",
+        "seg_desc_zh": "将鼠标拿出抽屉。"
+    },
+    "((9794, 9942), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "(None, (10054, 10191))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((10471, 11027), (10375, 10955))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((11167, 11259), (11111, 11259))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9c16ae05018151279c53db2c2273461899e1f4e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json
@@ -0,0 +1,6 @@
+{
+    "((665, 2387), (1159, 2279))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..a16dfe8153e5e7f5b114bfbfe9ff99f8e44a8327
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json
@@ -0,0 +1,6 @@
+{
+    "((1274, 2747), (728, 2579))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..b35a67b2d8f52b9060b6cf50776d1d47eab9ff2d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json
@@ -0,0 +1,6 @@
+{
+    "((749, 1273), (785, 1273))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..15a58576d0fd11994059a1b18348fab2b04c06e2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json
@@ -0,0 +1,66 @@
+{
+    "((987, 1440), (987, 1292))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1372, 1756))": {
+        "seg_desc": "Rearrange the box from one position to another position.",
+        "seg_desc_zh": "将盒子从一个位置移动到另一个位置。"
+    },
+    "((1440, 2793), None)": {
+        "seg_desc": "Hold box lid to the position.",
+        "seg_desc_zh": "用手抓握盒盖并保持位置。"
+    },
+    "(None, (1932, 2264))": {
+        "seg_desc": "Take the lightbulb outside the box.",
+        "seg_desc_zh": "将灯泡拿出盒子。"
+    },
+    "(None, (2384, 2721))": {
+        "seg_desc": "Take the mouse outside the box.",
+        "seg_desc_zh": "将鼠标拿出盒子。"
+    },
+    "((2793, 3197), (2793, 3197))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((3197, 3533), (3257, 3533))": {
+        "seg_desc": "Rearrange the box from one position to another position.",
+        "seg_desc_zh": "将盒子从一个位置移动到另一个位置。"
+    },
+    "((4714, 6243), (4610, 6263))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "((6696, 6844), (6720, 6860))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "((7728, 8349), (7756, 8309))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((8357, 8633), None)": {
+        "seg_desc": "Hold the power socket to the position.",
+        "seg_desc_zh": "用手抓握电源插座并保持位置。"
+    },
+    "((8833, 9173), (8537, 9113))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    },
+    "((9177, 9562), None)": {
+        "seg_desc": "Hold the usb hub to the position.",
+        "seg_desc_zh": "用手抓握usb扩展坞并保持位置。"
+    },
+    "(None, (9325, 9598))": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    },
+    "((9790, 10282), (9718, 10194))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((10282, 10550), (10422, 10538))": {
+        "seg_desc": "Use the mouse to control the laptop.",
+        "seg_desc_zh": "用鼠标控制笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe338f2ddfd773f71cca3cd9a8b2b0f9c4217921
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40.json
@@ -0,0 +1,14 @@
+{
+    "((873, 1618), (733, 1614))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1838, 2226))": {
+        "seg_desc": "Take the pencil sharpener outside the box.",
+        "seg_desc_zh": "将卷笔刀拿出盒子。"
+    },
+    "((2543, 3215), (2543, 3215))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..e583f56cb7f480a0ab5d64264097348b8a8e94fc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json
@@ -0,0 +1,26 @@
+{
+    "(None, (1054, 2014))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (2219, 2995))": {
+        "seg_desc": "Place the flower inside the box.",
+        "seg_desc_zh": "将花放入盒子。"
+    },
+    "(None, (3327, 4008))": {
+        "seg_desc": "Place the pencil inside the box.",
+        "seg_desc_zh": "将铅笔放入盒子。"
+    },
+    "(None, (4316, 4961))": {
+        "seg_desc": "Place the pencil sharpener inside the box.",
+        "seg_desc_zh": "将卷笔刀放入盒子。"
+    },
+    "(None, (5121, 5589))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((5805, 5929), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c12683167d187fa53abcce795e7376ffc84cba5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json
@@ -0,0 +1,6 @@
+{
+    "((1114, 5713), (790, 5581))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf59eec1f5bf3d4e1258db93af11c8661e5f1b2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json
@@ -0,0 +1,54 @@
+{
+    "((783, 1367), (775, 1367))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1459, 1691))": {
+        "seg_desc": "Rearrange the box from one position to another position.",
+        "seg_desc_zh": "将盒子从一个位置移动到另一个位置。"
+    },
+    "((1587, 2092), (1824, 2372))": {
+        "seg_desc": "Take the flower outside the box.",
+        "seg_desc_zh": "将花拿出盒子。"
+    },
+    "((2228, 2424), None)": {
+        "seg_desc": "Rearrange the flower from one position to another position.",
+        "seg_desc_zh": "将花从一个位置移动到另一个位置。"
+    },
+    "((2504, 3041), (2504, 3041))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((3269, 3361), (3269, 3881))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((4177, 4285), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "(None, (4581, 4838))": {
+        "seg_desc": "Hold the whiteboard pen to the position.",
+        "seg_desc_zh": "用手抓握白板笔并保持位置。"
+    },
+    "((4846, 5406), (4938, 5406))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((5450, 7736), (5406, 7736))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((7860, 10650), (7736, 10698))": {
+        "seg_desc": "Write with the whiteboard pen on the paper.",
+        "seg_desc_zh": "用白板笔在纸上书写。"
+    },
+    "((10810, 11522), (10698, 11246))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((11643, 12808), (11675, 12715))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0008638e0cad6f505e68fdfa999c97f2d3e36d1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json
@@ -0,0 +1,42 @@
+{
+    "((1220, 1721), (1000, 1721))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((1973, 3170), (1721, 3242))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((3242, 3774), (3242, 3598))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((3970, 5632), (3906, 5536))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((5748, 5896), (5624, 5856))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (5924, 6244))": {
+        "seg_desc": "Take the stapler outside the drawer.",
+        "seg_desc_zh": "将订书机拿出抽屉。"
+    },
+    "((6752, 7373), (6768, 7373))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "(None, (7441, 7813))": {
+        "seg_desc": "Place the stapler inside the drawer.",
+        "seg_desc_zh": "将订书机放入抽屉。"
+    },
+    "(None, (7917, 8121))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((8506, 9518), (8526, 9486))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d564f3a5f31ba830792de5841b756b9a507be4b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json
@@ -0,0 +1,18 @@
+{
+    "(None, (762, 946))": {
+        "seg_desc": "Hold the drawer to the position.",
+        "seg_desc_zh": "用手抓握抽屉并保持位置。"
+    },
+    "((926, 1458), (998, 1474))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (1623, 2023))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((1671, 2431), (2087, 2423))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..68cd6f63b12686a44a1b2a6b4975d47d706b0286
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json
@@ -0,0 +1,6 @@
+{
+    "((757, 1415), (757, 1295))": {
+        "seg_desc": "Remove the power plug",
+        "seg_desc_zh": "移除电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc787f4e685ba4371aca347fa1f17bede5421f2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json
@@ -0,0 +1,6 @@
+{
+    "((895, 1323), (799, 1271))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..de773a17bb909f3062b4ea4047fc5b6561da908e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
@@ -0,0 +1,30 @@
+{
+    "((1165, 2782), (873, 2726))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "(None, (4623, 5080))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (5184, 5632))": {
+        "seg_desc": "Take the stapler outside the drawer.",
+        "seg_desc_zh": "将订书机拿出抽屉。"
+    },
+    "((5632, 6465), (5632, 6465))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "(None, (6465, 6861))": {
+        "seg_desc": "Place the stapler inside the drawer.",
+        "seg_desc_zh": "将订书机放入抽屉。"
+    },
+    "(None, (6913, 7105))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((7898, 8678), (7697, 8698))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3355f3488277209972fb54e6c8bfea1f35d9d5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json
@@ -0,0 +1,14 @@
+{
+    "((843, 2095), (931, 2043))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((2388, 2960), (2231, 3160))": {
+        "seg_desc": "Place the gamecontroler inside the box.",
+        "seg_desc_zh": "将游戏手柄放入盒子。"
+    },
+    "((3108, 4337), (3288, 4349))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..39880e489f4ad5800cf3c344f715ef53075aeead
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json
@@ -0,0 +1,6 @@
+{
+    "((1535, 6059), (1868, 6059))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..3507772dca579f11f5d34e30e8ab765381dcc74e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json
@@ -0,0 +1,6 @@
+{
+    "(None, (826, 4121))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ec06f26c97de8d6887f631973578b41d384fdb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json
@@ -0,0 +1,6 @@
+{
+    "((809, 1690), (901, 2186))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9bea77f305e177c19f01c719fcce82d1a991e95
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json
@@ -0,0 +1,6 @@
+{
+    "((733, 2283), (733, 2363))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..723b4b5a8428d1eb73d4bcb4d286f37d766719ea
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1042, 1830))": {
+        "seg_desc": "Rearrange the stapler from one position to another position.",
+        "seg_desc_zh": "将订书机从一个位置移动到另一个位置。"
+    },
+    "((1844, 2803), (1858, 2743))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..35793842a7bed6c4de1907a9c1acb7d88561b9e7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json
@@ -0,0 +1,6 @@
+{
+    "((1177, 2238), (689, 2122))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce4830dde8050b606857a21e38630bdf9f3f698
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json
@@ -0,0 +1,14 @@
+{
+    "((481, 801), (521, 937))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((937, 1370), (937, 1370))": {
+        "seg_desc": "Take the mouse outside the drawer.",
+        "seg_desc_zh": "将鼠标拿出抽屉。"
+    },
+    "((1438, 1706), (1370, 1706))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecb356858bf3a7a3496a102d80d3037af41d5a24
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
@@ -0,0 +1,26 @@
+{
+    "((721, 1282), (581, 785))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1282, 1626), (877, 1626))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((1626, 1898), (1678, 1898))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((1950, 2278), (1950, 2723))": {
+        "seg_desc": "Place the drawer inside the box.",
+        "seg_desc_zh": "将抽屉放入盒子。"
+    },
+    "((2891, 3651), (2891, 3659))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((3847, 4380), None)": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb32f03ebf2291dc80eda94a26e69db8d266ea9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
@@ -0,0 +1,22 @@
+{
+    "((1089, 1281), (781, 1345))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1345, 1601), (1345, 1601))": {
+        "seg_desc": "Take the usb stick outside the drawer.",
+        "seg_desc_zh": "将usb存储拿出抽屉。"
+    },
+    "((1673, 1881), (1601, 1893))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((2041, 3086), (2350, 3170))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((3254, 3787), (3174, 3667))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c86a927977f259a31a3caeeac3675b149877989
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json
@@ -0,0 +1,6 @@
+{
+    "((882, 1435), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bdf329af0f0b2ab515617d07e477ed94d23b630
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json
@@ -0,0 +1,14 @@
+{
+    "((585, 1560), (585, 1402))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1560, 2542), (1718, 2406))": {
+        "seg_desc": "Take the gamecontroler outside the box.",
+        "seg_desc_zh": "将游戏手柄拿出盒子。"
+    },
+    "((2542, 3903), (2679, 3903))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..91b5a80053b6ec45c85cc68d38104f597097a9f4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
@@ -0,0 +1,50 @@
+{
+    "(None, (708, 948))": {
+        "seg_desc": "Rearrange the gamecontroler from one position to another position.",
+        "seg_desc_zh": "将游戏手柄从一个位置移动到另一个位置。"
+    },
+    "((948, 1360), (948, 1360))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1360, 1664), (1360, 1664))": {
+        "seg_desc": "Place the gamecontroler inside the drawer.",
+        "seg_desc_zh": "将游戏手柄放入抽屉。"
+    },
+    "((1664, 2085), (1725, 2157))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "(None, (2337, 2701))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((2477, 3226), (2757, 3122))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "(None, (3214, 3342))": {
+        "seg_desc": "Press the button on the power socket.",
+        "seg_desc_zh": "按下电源插座上的按钮。"
+    },
+    "((3342, 3786), (3426, 4198))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    },
+    "((4334, 5139), (4463, 5447))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((5663, 5731), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((6496, 7633), (5988, 7565))": {
+        "seg_desc": "Remove the lightbulb from the lamp.",
+        "seg_desc_zh": "将灯泡从设备上卸下"
+    },
+    "((7633, 7781), (7701, 7745))": {
+        "seg_desc": "Hold the lamp to the position.",
+        "seg_desc_zh": "用手抓握台灯并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b940561e39d31f50f06b3999e7c6a42e888bf55
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json
@@ -0,0 +1,14 @@
+{
+    "((755, 1224), (711, 1392))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1392, 2089), (1392, 2089))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((2277, 2753), (2089, 2729))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6d56645b9eaa86596d0c485c48010de7413ac0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json
@@ -0,0 +1,6 @@
+{
+    "((913, 2066), (977, 1914))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..974f1ae6db718ec3aaee8832603c54a1567d7c92
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json
@@ -0,0 +1,14 @@
+{
+    "((1469, 1801), (851, 1833))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((1865, 2541), (1833, 2449))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "(None, (2449, 3090))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..610ceb9576f02ec8989a27c48b69f7991ee2ca17
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json
@@ -0,0 +1,34 @@
+{
+    "((556, 732), None)": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    },
+    "((852, 1261), (908, 1313))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1365, 1693), (1313, 1755))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((1817, 2129), (1755, 2121))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((2133, 2514), None)": {
+        "seg_desc": "Hold the drawer to the position.",
+        "seg_desc_zh": "用手抓握抽屉并保持位置。"
+    },
+    "(None, (2217, 3122))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((3226, 3939), (3218, 3971))": {
+        "seg_desc": "Place the drawer inside the box.",
+        "seg_desc_zh": "将抽屉放入盒子。"
+    },
+    "((4155, 5127), (4155, 5155))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..6260bb51fc96b59beca923f6ec7c7a0574054558
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
@@ -0,0 +1,34 @@
+{
+    "((752, 1261), (752, 1261))": {
+        "seg_desc": "Rearrange the whiteboard from one position to another position.",
+        "seg_desc_zh": "将白板从一个位置移动到另一个位置。"
+    },
+    "(None, (1441, 1877))": {
+        "seg_desc": "Place the whiteboard eraser inside the box.",
+        "seg_desc_zh": "将白板擦放入盒子。"
+    },
+    "((2033, 2477), None)": {
+        "seg_desc": "Place the whiteboard pen inside the box.",
+        "seg_desc_zh": "将白板笔放入盒子。"
+    },
+    "((2722, 3274), None)": {
+        "seg_desc": "Place the flower inside the box.",
+        "seg_desc_zh": "将花放入盒子。"
+    },
+    "((3542, 4067), (3542, 4083))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((4271, 4359), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((4603, 4883), (4595, 4883))": {
+        "seg_desc": "Remove the power plug of the lamp.",
+        "seg_desc_zh": "移除台灯的电源插头。"
+    },
+    "((4887, 5104), (4887, 5132))": {
+        "seg_desc": "Hold the power socket and the power plug to the position.",
+        "seg_desc_zh": "用手抓握电源插座和电源插头并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cbda8f4f4aecdd63aa1e3a0c024c67d4a99035a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json
@@ -0,0 +1,10 @@
+{
+    "((831, 2153), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "(None, (1103, 2694))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9f9c6c1c3357ab717f5e06bd5f059fb47d4d52
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json
@@ -0,0 +1,6 @@
+{
+    "((744, 2201), (912, 1928))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..7203355a343e1acfa9fdb5cc43d0423951c28e68
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json
@@ -0,0 +1,26 @@
+{
+    "((784, 1537), (688, 1573))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "(None, (1573, 1889))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((1637, 2121), None)": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((2285, 2649), (2377, 2649))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((2846, 3182), (2649, 3182))": {
+        "seg_desc": "Place the usb stick inside the drawer.",
+        "seg_desc_zh": "将usb存储放入抽屉。"
+    },
+    "((3282, 3514), (3182, 3514))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..446fb7d1e549c4d78efd537e30f81b319d4c556a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json
@@ -0,0 +1,6 @@
+{
+    "((963, 2416), (1147, 2352))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..abbe18fa421052bb183685df094e5f6a97c5954e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json
@@ -0,0 +1,6 @@
+{
+    "((617, 1954), (617, 1882))": {
+        "seg_desc": "Remove the power plug",
+        "seg_desc_zh": "移除电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee0494b73415ccc68c88ce050f091d894ac7482b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json
@@ -0,0 +1,18 @@
+{
+    "(None, (520, 1413))": {
+        "seg_desc": "Rearrange the stapler from one position to another position.",
+        "seg_desc_zh": "将订书机从一个位置移动到另一个位置。"
+    },
+    "((1377, 2109), None)": {
+        "seg_desc": "Rearrange the stapler from one position to another position.",
+        "seg_desc_zh": "将订书机从一个位置移动到另一个位置。"
+    },
+    "((2169, 2289), (2021, 2526))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "((2341, 3354), None)": {
+        "seg_desc": "Rearrange the stapler from one position to another position.",
+        "seg_desc_zh": "将订书机从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..5272b63cbef2829289d58bf47e94a8f428073194
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json
@@ -0,0 +1,30 @@
+{
+    "((1610, 2879), (1145, 2879))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((3255, 4164), (3199, 4276))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((4408, 5148), (4280, 5068))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((5853, 6257), (5565, 6257))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((6257, 6914), (6381, 6914))": {
+        "seg_desc": "Take the mouse outside the drawer.",
+        "seg_desc_zh": "将鼠标拿出抽屉。"
+    },
+    "((6914, 7434), (7138, 7489))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "(None, (7674, 7990))": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1a598ac0ef44beccef6f9f11983ce3bc3cda9b3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json
@@ -0,0 +1,46 @@
+{
+    "((735, 1103), (711, 979))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1103, 1561), (1103, 1475))": {
+        "seg_desc": "Take the stapler outside the drawer.",
+        "seg_desc_zh": "将订书机拿出抽屉。"
+    },
+    "((1561, 2268), (1648, 2268))": {
+        "seg_desc": "Take the pencil outside the drawer.",
+        "seg_desc_zh": "将铅笔拿出抽屉。"
+    },
+    "((2268, 2540), (2376, 2624))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((2804, 3253), (2804, 3293))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((3333, 3681), (3293, 3725))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((3769, 4033), (3725, 4065))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "(None, (4065, 4173))": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((4121, 4301), None)": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((4373, 5811), (4269, 5839))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((6843, 7768), (6775, 7992))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..885077dd20c2631c6c71cbc4c68414fca0b8bc3a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
@@ -0,0 +1,50 @@
+{
+    "((2038, 2598), (1045, 2662))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((2934, 3386), (2858, 3386))": {
+        "seg_desc": "Rearrange the laptop from one position to another position.",
+        "seg_desc_zh": "将笔记本电脑从一个位置移动到另一个位置。"
+    },
+    "((3603, 3923), (3455, 3935))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "(None, (4187, 4423))": {
+        "seg_desc": "Hold the drawer to the position.",
+        "seg_desc_zh": "用手抓握抽屉并保持位置。"
+    },
+    "((4560, 4896), (4608, 4896))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((4896, 5688), (4956, 5688))": {
+        "seg_desc": "Take the mouse outside the drawer.",
+        "seg_desc_zh": "将鼠标拿出抽屉。"
+    },
+    "((5688, 5977), (5772, 6037))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "(None, (6281, 6621))": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    },
+    "((6301, 6625), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "(None, (6789, 7037))": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((6817, 7350), None)": {
+        "seg_desc": "Hold the usb stick to the position.",
+        "seg_desc_zh": "用手抓握usb存储并保持位置。"
+    },
+    "(None, (7262, 8066))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ce1ff816dd26ddc5f00994ed2c5b266013288bd
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json
@@ -0,0 +1,6 @@
+{
+    "((2341, 3542), (636, 3730))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..32bd1958be7cf2d0a063f38278e778c3a5ff3f2d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json
@@ -0,0 +1,6 @@
+{
+    "((1477, 5900), (908, 6520))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__df069c5a6cf843623ea0__2023-04-20-09-38-43.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__df069c5a6cf843623ea0__2023-04-20-09-38-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..9705f1c2f8bd1b7cec67ecb03a06ebc259c9d98c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__df069c5a6cf843623ea0__2023-04-20-09-38-43.json
@@ -0,0 +1,6 @@
+{
+    "((826, 4781), (1407, 4741))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf4acb96ef177a77b92dd4c3bfbe037b4e73b34b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json
@@ -0,0 +1,66 @@
+{
+    "((519, 599), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((971, 1412), (855, 1412))": {
+        "seg_desc": "Remove the power plug of the lamp.",
+        "seg_desc_zh": "移除台灯的电源插头。"
+    },
+    "((1412, 1676), (1495, 1588))": {
+        "seg_desc": "Press the button on the power socket.",
+        "seg_desc_zh": "按下电源插座上的按钮。"
+    },
+    "((1776, 2080), None)": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (1904, 2252))": {
+        "seg_desc": "Hold drawer to the position.",
+        "seg_desc_zh": "用手抓握抽屉并保持位置。"
+    },
+    "((2156, 2753), None)": {
+        "seg_desc": "Place the pencil inside the drawer.",
+        "seg_desc_zh": "将铅笔放入抽屉。"
+    },
+    "((2925, 3761), None)": {
+        "seg_desc": "Place the stapler inside the drawer.",
+        "seg_desc_zh": "将订书机放入抽屉。"
+    },
+    "((3837, 4066), None)": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((4530, 5202), (4454, 5234))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((5274, 5933), (5347, 5815))": {
+        "seg_desc": "Place the pencil sharpener inside the box.",
+        "seg_desc_zh": "将卷笔刀放入盒子。"
+    },
+    "((5933, 6728), (6051, 6583))": {
+        "seg_desc": "Place the tape inside the box.",
+        "seg_desc_zh": "将胶带放入盒子。"
+    },
+    "((6952, 7916), (6952, 7912))": {
+        "seg_desc": "Place the drawer inside the box.",
+        "seg_desc_zh": "将抽屉放入盒子。"
+    },
+    "((8185, 8825), (8165, 9017))": {
+        "seg_desc": "Place the paper inside the box.",
+        "seg_desc_zh": "将纸放入盒子。"
+    },
+    "((9141, 9642), (9141, 9634))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "(None, (9678, 9762))": {
+        "seg_desc": "Hold the box to the position.",
+        "seg_desc_zh": "用手抓握盒子并保持位置。"
+    },
+    "((9702, 9802), None)": {
+        "seg_desc": "Hold box lid to the position.",
+        "seg_desc_zh": "用手抓握盒盖并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8394c1c91f8bef9a2b15d122beefc00f658846
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json
@@ -0,0 +1,10 @@
+{
+    "(None, (743, 2044))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((1848, 2464), None)": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__efd166c0cffda247d1e9__2023-04-20-10-04-31.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__efd166c0cffda247d1e9__2023-04-20-10-04-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..a33cd8e35e85b9c1c279708a42ce6bb537a74e02
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__efd166c0cffda247d1e9__2023-04-20-10-04-31.json
@@ -0,0 +1,6 @@
+{
+    "((1362, 1991), (830, 2007))": {
+        "seg_desc": "Plug in the power plug",
+        "seg_desc_zh": "插入电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36187e7a5cdc916e582fd6809f69cdb63f7db25
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json
@@ -0,0 +1,54 @@
+{
+    "(None, (678, 1623))": {
+        "seg_desc": "Plug in the power plug of the lamp.",
+        "seg_desc_zh": "插入台灯的电源插头。"
+    },
+    "((1375, 1763), None)": {
+        "seg_desc": "Hold the power socket to the position.",
+        "seg_desc_zh": "用手抓握电源插座并保持位置。"
+    },
+    "(None, (1675, 1767))": {
+        "seg_desc": "Press the button on the power socket.",
+        "seg_desc_zh": "按下电源插座上的按钮。"
+    },
+    "((1947, 2075), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((2588, 2668), (2520, 2732))": {
+        "seg_desc": "Hold the box to the position.",
+        "seg_desc_zh": "用手抓握盒子并保持位置。"
+    },
+    "((2748, 3148), (2760, 3148))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((3312, 3961), (3548, 3969))": {
+        "seg_desc": "Take the pencil sharpener and the pencil outside the box.",
+        "seg_desc_zh": "将卷笔刀和铅笔拿出盒子。"
+    },
+    "(None, (4137, 4689))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((5038, 5390), (4881, 5406))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((5422, 5478), (5406, 5502))": {
+        "seg_desc": "Hold the pencil sharpener and the pencil to the position.",
+        "seg_desc_zh": "用手抓握卷笔刀和铅笔并保持位置。"
+    },
+    "((5526, 5886), (5502, 5930))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((5975, 6194), (5930, 6326))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((6843, 8468), (6330, 8508))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..9326564db0e9fd381c926e2fbca91c72cbdff1ec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json
@@ -0,0 +1,6 @@
+{
+    "((1030, 1351), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..820e69f7e9fd611e7828167b33259622eba1111c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json
@@ -0,0 +1,38 @@
+{
+    "((1004, 2101), (1236, 2281))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    },
+    "((2357, 2829), (2405, 2841))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "(None, (2985, 3146))": {
+        "seg_desc": "Press the button on the power socket.",
+        "seg_desc_zh": "按下电源插座上的按钮。"
+    },
+    "((3282, 3618), (3250, 3950))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    },
+    "(None, (4058, 4435))": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    },
+    "((4258, 4679), (4435, 4679))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((4679, 5039), (4679, 5039))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((5039, 5283), (5039, 5299))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((5523, 5932), (5535, 5936))": {
+        "seg_desc": "Rearrange the laptop from one position to another position.",
+        "seg_desc_zh": "将笔记本电脑从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7cbdc1739a093d2cad64870e9485d2f283cf4c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json
@@ -0,0 +1,14 @@
+{
+    "(None, (826, 1223))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((1223, 1751), (1223, 1603))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "(None, (1603, 1999))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..21105bb582a1d445af85fe2aa699dac49e4487d8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json
@@ -0,0 +1,58 @@
+{
+    "((614, 1110), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((1190, 1319), (798, 1319))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((1543, 2211), (1535, 2227))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((2463, 2928), (2531, 2984))": {
+        "seg_desc": "Take the drawer outside the box.",
+        "seg_desc_zh": "将抽屉拿出盒子。"
+    },
+    "((2984, 3248), (2984, 3224))": {
+        "seg_desc": "Rearrange the drawer from one position to another position.",
+        "seg_desc_zh": "将抽屉从一个位置移动到另一个位置。"
+    },
+    "((3328, 3636), (3328, 3636))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((3636, 4008), (3732, 4008))": {
+        "seg_desc": "Place the mouse inside the drawer.",
+        "seg_desc_zh": "将鼠标放入抽屉。"
+    },
+    "((4008, 4321), (4109, 4313))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((4417, 4889), (4417, 5173))": {
+        "seg_desc": "Place the drawer inside the box.",
+        "seg_desc_zh": "将抽屉放入盒子。"
+    },
+    "((4925, 5153), None)": {
+        "seg_desc": "Rearrange the box from one position to another position.",
+        "seg_desc_zh": "将盒子从一个位置移动到另一个位置。"
+    },
+    "((5345, 5914), (5345, 5958))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((6234, 6366), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((6630, 8247), (6682, 8344))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((8524, 8956), (8524, 9220))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c229cb7a3207b3a20143a9823ae35deb4738edb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
@@ -0,0 +1,42 @@
+{
+    "((927, 1935), (730, 2308))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    },
+    "(None, (2500, 3112))": {
+        "seg_desc": "Rearrange the whiteboard pen from one position to another position.",
+        "seg_desc_zh": "将白板笔从一个位置移动到另一个位置。"
+    },
+    "(None, (3344, 3629))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((3629, 4581), (3629, 4581))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((4581, 4809), (4581, 4894))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((5054, 5742), (5030, 5718))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (5830, 6275))": {
+        "seg_desc": "Place the pencil sharpener inside the box.",
+        "seg_desc_zh": "将卷笔刀放入盒子。"
+    },
+    "(None, (6451, 6979))": {
+        "seg_desc": "Place the pencil inside the box.",
+        "seg_desc_zh": "将铅笔放入盒子。"
+    },
+    "(None, (7155, 7575))": {
+        "seg_desc": "Place the stapler inside the box.",
+        "seg_desc_zh": "将订书机放入盒子。"
+    },
+    "((7808, 8900), (7808, 8944))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bfe8c44e5a9f2448420e3ba8d1b0e80f7557dc8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json
@@ -0,0 +1,6 @@
+{
+    "((978, 1722), (659, 1722))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..3752a022ea56c3a1b8603b72d21ddde0a894216c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49.json
@@ -0,0 +1,18 @@
+{
+    "((1281, 1513), (933, 1513))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((1513, 3339), None)": {
+        "seg_desc": "Hold pen cap to the position.",
+        "seg_desc_zh": "用手抓握笔盖并保持位置。"
+    },
+    "(None, (1513, 3339))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((3339, 3615), (3339, 3971))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7bf1de2e7a12c5dd7997ec73b088ed1d6117ba
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59.json
@@ -0,0 +1,6 @@
+{
+    "((919, 1536), (951, 1696))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__368db7b34042e99b40fb__2023-04-19-09-58-31.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__368db7b34042e99b40fb__2023-04-19-09-58-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..6177cf5d96596778bca35196c66cc0a1cf1198b8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__368db7b34042e99b40fb__2023-04-19-09-58-31.json
@@ -0,0 +1,6 @@
+{
+    "((639, 1415), (683, 1291))": {
+        "seg_desc": "Remove the power plug",
+        "seg_desc_zh": "移除电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__45d4b97267414ef9a719__2023-04-19-09-38-23.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__45d4b97267414ef9a719__2023-04-19-09-38-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d186f8f08c1442a816291637cd5732f48df79a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__45d4b97267414ef9a719__2023-04-19-09-38-23.json
@@ -0,0 +1,6 @@
+{
+    "((1059, 2024), (963, 1880))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f51deea022717f5fae956377dbce40e9bcb749a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json
@@ -0,0 +1,42 @@
+{
+    "((637, 1078), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "(None, (785, 1298))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((1122, 1386), None)": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    },
+    "((1470, 1642), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((1886, 2434), (1874, 2434))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((2594, 3014), (2578, 3022))": {
+        "seg_desc": "Place the gamecontroler inside the box.",
+        "seg_desc_zh": "将游戏手柄放入盒子。"
+    },
+    "(None, (3026, 3162))": {
+        "seg_desc": "Place the gamecontroler inside the box.",
+        "seg_desc_zh": "将游戏手柄放入盒子。"
+    },
+    "((3334, 3999), (3334, 4003))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((4279, 6237), (4191, 6277))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    },
+    "((6545, 6829), (6533, 6905))": {
+        "seg_desc": "Remove the power plug of the laptop.",
+        "seg_desc_zh": "移除笔记本电脑的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..46dbca9a4aee74ee956508d2d8146f9d4243a2f5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17.json
@@ -0,0 +1,14 @@
+{
+    "((766, 1355), (834, 1355))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1447, 1823))": {
+        "seg_desc": "Place the tape inside the box.",
+        "seg_desc_zh": "将胶带放入盒子。"
+    },
+    "((2059, 2612), (2059, 2584))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa76d923149fcc44e65ce1c8361902b0e02b290
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json
@@ -0,0 +1,62 @@
+{
+    "((892, 1368), (688, 1368))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "(None, (1368, 3418))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((3418, 3818), (3418, 3726))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (3750, 4034))": {
+        "seg_desc": "Rearrange the whiteboard pen from one position to another position.",
+        "seg_desc_zh": "将白板笔从一个位置移动到另一个位置。"
+    },
+    "((4238, 4755), (4238, 4755))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((4991, 5347), None)": {
+        "seg_desc": "Take the pencil sharpener outside the box.",
+        "seg_desc_zh": "将卷笔刀拿出盒子。"
+    },
+    "((5555, 5956), None)": {
+        "seg_desc": "Take the pencil outside the box.",
+        "seg_desc_zh": "将铅笔拿出盒子。"
+    },
+    "(None, (5836, 6052))": {
+        "seg_desc": "Rearrange the pencil from one position to another position.",
+        "seg_desc_zh": "将铅笔从一个位置移动到另一个位置。"
+    },
+    "((6136, 6284), (6056, 6348))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((6348, 7289), (6348, 7273))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "(None, (7273, 7373))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((7505, 9486), (7373, 9486))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((10447, 10859), None)": {
+        "seg_desc": "Take the stapler outside the box.",
+        "seg_desc_zh": "将订书机拿出盒子。"
+    },
+    "((10863, 11808), (10863, 11848))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "((12488, 13389), (12084, 13649))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..3012058e8c1d0fba83d1ab235941a50020e76847
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json
@@ -0,0 +1,34 @@
+{
+    "((810, 1406), (810, 1406))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1578, 2239))": {
+        "seg_desc": "Hold the whiteboard to the position.",
+        "seg_desc_zh": "用手抓握白板并保持位置。"
+    },
+    "((2147, 3376), (2363, 3359))": {
+        "seg_desc": "Place the whiteboard inside the box.",
+        "seg_desc_zh": "将白板放入盒子。"
+    },
+    "(None, (3504, 3952))": {
+        "seg_desc": "Place the whiteboard eraser inside the box.",
+        "seg_desc_zh": "将白板擦放入盒子。"
+    },
+    "(None, (4200, 4744))": {
+        "seg_desc": "Place the whiteboard pen inside the box.",
+        "seg_desc_zh": "将白板笔放入盒子。"
+    },
+    "((5001, 5621), (4965, 5621))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((5893, 6097), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((6318, 6550), (6362, 6602))": {
+        "seg_desc": "Remove the power plug of the lamp.",
+        "seg_desc_zh": "移除台灯的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__60830eb1a79bf681240c__2023-04-19-09-40-41.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__60830eb1a79bf681240c__2023-04-19-09-40-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b5362dcc92d3d68cb37b7ed00205677cb06e14
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__60830eb1a79bf681240c__2023-04-19-09-40-41.json
@@ -0,0 +1,6 @@
+{
+    "((946, 1850), (946, 1870))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..4223d06630999633ae72fce832ff17617ea1de24
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json
@@ -0,0 +1,66 @@
+{
+    "(None, (787, 1464))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((1720, 2232), (1720, 2360))": {
+        "seg_desc": "Rearrange the laptop from one position to another position.",
+        "seg_desc_zh": "将笔记本电脑从一个位置移动到另一个位置。"
+    },
+    "((2420, 3669), (3221, 3817))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "(None, (3986, 4134))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((4414, 5146), (4458, 5259))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((5343, 5891), (5451, 5931))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((5995, 6219), (6151, 6511))": {
+        "seg_desc": "Take the gamecontroler outside the box.",
+        "seg_desc_zh": "将游戏手柄拿出盒子。"
+    },
+    "((6331, 6700), None)": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    },
+    "(None, (6511, 6884))": {
+        "seg_desc": "Place the gamecontroler inside the box.",
+        "seg_desc_zh": "将游戏手柄放入盒子。"
+    },
+    "((6896, 7116), (7036, 7240))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((7180, 7552), (7400, 7556))": {
+        "seg_desc": "Take the mouse outside the box.",
+        "seg_desc_zh": "将鼠标拿出盒子。"
+    },
+    "((7664, 8301), (7664, 8301))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((8429, 8669), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "(None, (8489, 8625))": {
+        "seg_desc": "Rearrange the mouse from one position to another position.",
+        "seg_desc_zh": "将鼠标从一个位置移动到另一个位置。"
+    },
+    "((8813, 9173), (8721, 9101))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((9253, 9437), (9313, 9405))": {
+        "seg_desc": "Use the mouse to control the laptop.",
+        "seg_desc_zh": "用鼠标控制笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..18fa3ebbe3b731899e4902c641fcb50ed6315f25
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json
@@ -0,0 +1,58 @@
+{
+    "((660, 1432), (704, 1440))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1813, 2049))": {
+        "seg_desc": "Take the flower outside the box.",
+        "seg_desc_zh": "将花拿出盒子。"
+    },
+    "(None, (2049, 2497))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((2705, 3186), (2705, 3218))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((3910, 4579), (3562, 4579))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "(None, (4579, 6428))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((6428, 7184), (6428, 6928))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (7393, 7813))": {
+        "seg_desc": "Rearrange the pencil sharpener from one position to another position.",
+        "seg_desc_zh": "将卷笔刀从一个位置移动到另一个位置。"
+    },
+    "((7957, 8441), None)": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((8441, 9254), (8553, 9254))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((9254, 9662), (9378, 9514))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((9770, 11800), (9578, 11808))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((12220, 19962), (12220, 20422))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((20986, 21803), (20642, 22095))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a0b77b8e69e2a56dd968e82d88739b9e7595b0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58.json
@@ -0,0 +1,6 @@
+{
+    "((856, 1080), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__79e821de8b915a202231__2023-04-19-09-48-20.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__79e821de8b915a202231__2023-04-19-09-48-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8e0bf235c015b0c1109e5b277826ce2239dae7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__79e821de8b915a202231__2023-04-19-09-48-20.json
@@ -0,0 +1,14 @@
+{
+    "((698, 1291), (774, 1287))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1403, 2071), (1471, 1899))": {
+        "seg_desc": "Take the tape outside the box.",
+        "seg_desc_zh": "将胶带拿出盒子。"
+    },
+    "((2175, 2700), (2203, 2708))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..0639251348e126345bdcce2a59a6d0d41a1067e1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json
@@ -0,0 +1,102 @@
+{
+    "((924, 1124), (660, 1112))": {
+        "seg_desc": "Plug in the power plug of the lamp.",
+        "seg_desc_zh": "插入台灯的电源插头。"
+    },
+    "((1316, 1508), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((1781, 2408), (1789, 2282))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((2408, 3467), None)": {
+        "seg_desc": "Hold box lid to the position.",
+        "seg_desc_zh": "用手抓握盒盖并保持位置。"
+    },
+    "(None, (2534, 2742))": {
+        "seg_desc": "Take the flower outside the box.",
+        "seg_desc_zh": "将花拿出盒子。"
+    },
+    "(None, (2742, 3098))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    },
+    "((3467, 3988), (3459, 3980))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((4240, 4902), (4312, 4856))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((4902, 5323), (4948, 5265))": {
+        "seg_desc": "Take the whiteboard pen outside the drawer.",
+        "seg_desc_zh": "将白板笔拿出抽屉。"
+    },
+    "((5323, 5747), (5381, 5693))": {
+        "seg_desc": "Take the whiteboard eraser outside the drawer.",
+        "seg_desc_zh": "将白板擦拿出抽屉。"
+    },
+    "((5747, 6085), (5801, 6021))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((6357, 6898), (6233, 6898))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "(None, (6898, 8815))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((8815, 9656), (8815, 9195))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((9908, 10336), (9908, 10312))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (10464, 10793))": {
+        "seg_desc": "Take the pencil sharpener outside the box.",
+        "seg_desc_zh": "将卷笔刀拿出盒子。"
+    },
+    "(None, (10973, 11309))": {
+        "seg_desc": "Take the pencil outside the box.",
+        "seg_desc_zh": "将铅笔拿出盒子。"
+    },
+    "((11333, 11925), (11485, 11917))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "(None, (12078, 12742))": {
+        "seg_desc": "Rearrange the pencil sharpener from one position to another position.",
+        "seg_desc_zh": "将卷笔刀从一个位置移动到另一个位置。"
+    },
+    "((12470, 12994), None)": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((12994, 13751), (12834, 13751))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((13751, 14255), (13843, 14235))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((14255, 14379), None)": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((14475, 16381), (14315, 16325))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((16969, 17814), (16565, 17974))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9d387fd112a0caaf56c62171866349b3771dfc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
@@ -0,0 +1,46 @@
+{
+    "((1070, 2026), (713, 2262))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    },
+    "((2457, 2934), (2485, 2852))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((2934, 3450), (3016, 3376))": {
+        "seg_desc": "Place the whiteboard eraser inside the drawer.",
+        "seg_desc_zh": "将白板擦放入抽屉。"
+    },
+    "((3450, 3959), (3524, 3921))": {
+        "seg_desc": "Place the whiteboard pen inside the drawer.",
+        "seg_desc_zh": "将白板笔放入抽屉。"
+    },
+    "((3959, 4337), (3997, 4309))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((4573, 5616), (4573, 5117))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (5251, 5790))": {
+        "seg_desc": "Place the pencil sharpener inside the box.",
+        "seg_desc_zh": "将卷笔刀放入盒子。"
+    },
+    "((5616, 6624), (6115, 6530))": {
+        "seg_desc": "Place the pencil inside the box.",
+        "seg_desc_zh": "将铅笔放入盒子。"
+    },
+    "((6624, 7307), (6719, 7279))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((7527, 7767), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((7943, 8316), (8001, 8344))": {
+        "seg_desc": "Remove the power plug of the lamp.",
+        "seg_desc_zh": "移除台灯的电源插头。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8a043f2c9d848ac15633__2023-04-20-14-17-37.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8a043f2c9d848ac15633__2023-04-20-14-17-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb39976f757cf1a52abb66a245328ae6ab8f7087
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8a043f2c9d848ac15633__2023-04-20-14-17-37.json
@@ -0,0 +1,22 @@
+{
+    "((871, 1091), (593, 1067))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((1091, 1179), None)": {
+        "seg_desc": "Hold pen cap to the position.",
+        "seg_desc_zh": "用手抓握笔盖并保持位置。"
+    },
+    "(None, (1155, 2400))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((2400, 2916), (2400, 2776))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "(None, (2852, 3161))": {
+        "seg_desc": "Rearrange the whiteboard pen from one position to another position.",
+        "seg_desc_zh": "将白板笔从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8c243ec220de4e47e630__2023-04-19-09-45-19.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8c243ec220de4e47e630__2023-04-19-09-45-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..7665809795abc152673ff8c3cb124b141c8ede9e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8c243ec220de4e47e630__2023-04-19-09-45-19.json
@@ -0,0 +1,18 @@
+{
+    "((1185, 1369), (837, 1485))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((1485, 2010), (1485, 1942))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((2010, 2178), None)": {
+        "seg_desc": "Hold the pencil sharpener to the position.",
+        "seg_desc_zh": "用手抓握卷笔刀并保持位置。"
+    },
+    "(None, (2010, 2178))": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..1090ce4822e0ed22f3c62d96d9af44e5c924aba8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57.json
@@ -0,0 +1,6 @@
+{
+    "((1483, 3516), (962, 4073))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8e4b0023921526f5c201__2023-04-19-09-55-18.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8e4b0023921526f5c201__2023-04-19-09-55-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..e022554076c45183e45b63d3eeafb1c8516af2d8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8e4b0023921526f5c201__2023-04-19-09-55-18.json
@@ -0,0 +1,14 @@
+{
+    "(None, (712, 1061))": {
+        "seg_desc": "Hold the power plug to the position.",
+        "seg_desc_zh": "用手抓握电源插头并保持位置。"
+    },
+    "((997, 1129), None)": {
+        "seg_desc": "Hold the power plug to the position.",
+        "seg_desc_zh": "用手抓握电源插头并保持位置。"
+    },
+    "((1197, 1853), (1081, 1837))": {
+        "seg_desc": "Plug in the power plug",
+        "seg_desc_zh": "插入电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6228314901f4c733fe6d9388d13b99ee5fbefc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33.json
@@ -0,0 +1,6 @@
+{
+    "((1184, 2569), (696, 2581))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..116c72e8ea2693371495c0128c35cfbc468e898b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json
@@ -0,0 +1,34 @@
+{
+    "((712, 1265), (736, 1297))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1329, 1773), None)": {
+        "seg_desc": "Hold box lid to the position.",
+        "seg_desc_zh": "用手抓握盒盖并保持位置。"
+    },
+    "(None, (1453, 1997))": {
+        "seg_desc": "Place the flower inside the box.",
+        "seg_desc_zh": "将花放入盒子。"
+    },
+    "(None, (2285, 2986))": {
+        "seg_desc": "Place the scissors inside the box.",
+        "seg_desc_zh": "将剪刀放入盒子。"
+    },
+    "((3214, 3826), (3214, 3850))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((4115, 4695), (4475, 4663))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((4695, 5474), (4727, 5448))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((5474, 6244), (5500, 5936))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..873316ddd4b2233e2ececdec27e2b7bfbc084641
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json
@@ -0,0 +1,62 @@
+{
+    "((1183, 1455), (735, 1447))": {
+        "seg_desc": "Plug in the power plug of the lamp.",
+        "seg_desc_zh": "插入台灯的电源插头。"
+    },
+    "((1583, 1780), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((2124, 2640), (2104, 2596))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((2752, 3100), None)": {
+        "seg_desc": "Take the whiteboard eraser outside the box.",
+        "seg_desc_zh": "将白板擦拿出盒子。"
+    },
+    "((3257, 3749), None)": {
+        "seg_desc": "Take the whiteboard pen outside the box.",
+        "seg_desc_zh": "将白板笔拿出盒子。"
+    },
+    "((3901, 5186), (3969, 5186))": {
+        "seg_desc": "Take the whiteboard outside the box.",
+        "seg_desc_zh": "将白板拿出盒子。"
+    },
+    "((5398, 6123), (5322, 6123))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((6488, 7105), (6264, 7105))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "(None, (7105, 9130))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((9130, 9423), (9130, 9423))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((9423, 9583), (9423, 9583))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((9583, 10383), None)": {
+        "seg_desc": "Hold pen cap to the position.",
+        "seg_desc_zh": "用手抓握笔盖并保持位置。"
+    },
+    "((10439, 11520), (9583, 11604))": {
+        "seg_desc": "Write with the whiteboard pen on the paper.",
+        "seg_desc_zh": "用白板笔在纸上书写。"
+    },
+    "((11604, 12333), (11604, 12017))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    },
+    "((12697, 13690), (12465, 13870))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e8ae14afe04d43b76dd699290cae672f662fd5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54.json
@@ -0,0 +1,6 @@
+{
+    "((622, 1640), (633, 1652))": {
+        "seg_desc": "Open the book.",
+        "seg_desc_zh": "打开书"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63712c2a92b40993711439328d62a352b80108b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json
@@ -0,0 +1,54 @@
+{
+    "((1014, 1575), (786, 1619))": {
+        "seg_desc": "Plug in the power plug of the lamp.",
+        "seg_desc_zh": "插入台灯的电源插头。"
+    },
+    "((1747, 1915), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((2135, 3040), (2167, 3060))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (3312, 3640))": {
+        "seg_desc": "Take the scissors outside the box.",
+        "seg_desc_zh": "将剪刀拿出盒子。"
+    },
+    "((3808, 4308), (3760, 4323))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((4505, 7707), (4505, 7707))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    },
+    "((7707, 7963), (7763, 7843))": {
+        "seg_desc": "Rearrange the paper from one position to another position.",
+        "seg_desc_zh": "将纸从一个位置移动到另一个位置。"
+    },
+    "((8091, 8676), (8123, 8760))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((8760, 9180), (8760, 9180))": {
+        "seg_desc": "Take the stapler outside the drawer.",
+        "seg_desc_zh": "将订书机拿出抽屉。"
+    },
+    "((9260, 9608), (9180, 9624))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((9748, 10109), (9780, 10169))": {
+        "seg_desc": "Hold the paper to the position.",
+        "seg_desc_zh": "用手抓握纸并保持位置。"
+    },
+    "((10229, 11398), (10169, 11440))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "((11482, 11598), (11440, 11598))": {
+        "seg_desc": "Hold the paper to the position.",
+        "seg_desc_zh": "用手抓握纸并保持位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..607b340951a2db4dc1d70b4dea7a12818ddbb389
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json
@@ -0,0 +1,18 @@
+{
+    "(None, (657, 1381))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((941, 1579), (1441, 1537))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1579, 2114), (1621, 2066))": {
+        "seg_desc": "Take the tape outside the drawer.",
+        "seg_desc_zh": "将胶带拿出抽屉。"
+    },
+    "((2114, 2498), (2162, 2490))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d4c87e400b6953392731bb4e2287b7a49b7c28
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json
@@ -0,0 +1,74 @@
+{
+    "((772, 1322), (764, 1322))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1634, 2346), (1558, 2314))": {
+        "seg_desc": "Take the drawer outside the box.",
+        "seg_desc_zh": "将抽屉拿出盒子。"
+    },
+    "((2350, 2767), (2394, 2817))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((2867, 3179), (2817, 3223))": {
+        "seg_desc": "Take the lightbulb outside the drawer.",
+        "seg_desc_zh": "将灯泡拿出抽屉。"
+    },
+    "((3295, 3499), (3327, 3499))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    },
+    "((3603, 3944), (3603, 4204))": {
+        "seg_desc": "Place the drawer inside the box.",
+        "seg_desc_zh": "将抽屉放入盒子。"
+    },
+    "((3968, 4176), None)": {
+        "seg_desc": "Hold the box to the position.",
+        "seg_desc_zh": "用手抓握盒子并保持位置。"
+    },
+    "((4980, 5108), (4980, 5080))": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((5657, 7882), (5657, 7882))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    },
+    "(None, (8835, 9420))": {
+        "seg_desc": "Plug in the power plug of the laptop.",
+        "seg_desc_zh": "插入笔记本电脑的电源插头。"
+    },
+    "((9151, 9492), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((9732, 10953), (9952, 11081))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    },
+    "((11105, 11237), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    },
+    "((11321, 11541), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((11773, 11953), (11493, 11961))": {
+        "seg_desc": "Take the gamecontroler outside the box.",
+        "seg_desc_zh": "将游戏手柄拿出盒子。"
+    },
+    "((12077, 12578), (12077, 12586))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "((12862, 13298), (12770, 13170))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    },
+    "((13362, 13550), (13350, 13558))": {
+        "seg_desc": "Use the gamecontroller to control the laptop.",
+        "seg_desc_zh": "用游戏手柄控制笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..020e1070b1df3f084039ad6e65bae7c5aa81e5ae
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json
@@ -0,0 +1,6 @@
+{
+    "((968, 1868), (863, 1792))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8d98538589d3d708a57b642f8d5c9191512b7a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36.json
@@ -0,0 +1,14 @@
+{
+    "((679, 1129), (679, 1075))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1129, 1667), (1183, 1631))": {
+        "seg_desc": "Place the tape inside the drawer.",
+        "seg_desc_zh": "将胶带放入抽屉。"
+    },
+    "((1667, 2064), (1703, 2056))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..090a3f73af74fd13e707066b1dc25ec63e0aa465
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json
@@ -0,0 +1,6 @@
+{
+    "((1162, 1830), (846, 1742))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf4e1fa510421dd5daebc397f972015286dde6b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json
@@ -0,0 +1,6 @@
+{
+    "((821, 2374), (1141, 2382))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..c507988ae119e794d2544e0252e83a721fb1143e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json
@@ -0,0 +1,10 @@
+{
+    "((690, 1046), (802, 1046))": {
+        "seg_desc": "Open the book.",
+        "seg_desc_zh": "打开书"
+    },
+    "((1118, 1503), (1118, 1583))": {
+        "seg_desc": "Rearrange the book from one position to another position.",
+        "seg_desc_zh": "将书从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..25de3f7ea5bca7c63295b5075cd53f8984c92e2b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json
@@ -0,0 +1,6 @@
+{
+    "((853, 2135), (853, 2131))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0da25907d64a6ebc0c88e6f6615a2a1dea520cf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json
@@ -0,0 +1,6 @@
+{
+    "((1067, 1647), (794, 1591))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..71bdf7bf9bbbcd50f940ec359d49c142beb7e1eb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json
@@ -0,0 +1,6 @@
+{
+    "((1576, 2264), (867, 2593))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f94748d2b75607b03b9bdb5abdb37ec831f00501
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
@@ -0,0 +1,46 @@
+{
+    "((729, 1365), (777, 1373))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "(None, (1625, 2090))": {
+        "seg_desc": "Take the pencil sharpener outside the box.",
+        "seg_desc_zh": "将卷笔刀拿出盒子。"
+    },
+    "((2234, 2602), None)": {
+        "seg_desc": "Take the pencil outside the box.",
+        "seg_desc_zh": "将铅笔拿出盒子。"
+    },
+    "((2750, 3379), (2750, 3399))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    },
+    "(None, (3519, 3923))": {
+        "seg_desc": "Rearrange the pencil sharpener from one position to another position.",
+        "seg_desc_zh": "将卷笔刀从一个位置移动到另一个位置。"
+    },
+    "((3619, 4019), None)": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((4019, 4700), (3975, 4700))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((4700, 5100), (4772, 5048))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((5100, 5216), None)": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((5328, 7363), (5168, 7309))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    },
+    "((7814, 13726), (7942, 14234))": {
+        "seg_desc": "Shear paper with the stapler.",
+        "seg_desc_zh": "用剪刀剪纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a263347c3f9af4e1ad82a3fa439c2954809bef
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json
@@ -0,0 +1,6 @@
+{
+    "((690, 1498), (646, 1490))": {
+        "seg_desc": "Plug in the power plug",
+        "seg_desc_zh": "插入电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ed8bd25b4a2987c6f8d0abc86906ab58ede50f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json
@@ -0,0 +1,10 @@
+{
+    "((543, 963), None)": {
+        "seg_desc": "Rearrange the stapler from one position to another position.",
+        "seg_desc_zh": "将订书机从一个位置移动到另一个位置。"
+    },
+    "((1023, 1360), None)": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e1bd189dc75aa40175daface4f9e28a94e459c2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json
@@ -0,0 +1,6 @@
+{
+    "((1052, 1292), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba8ac9f8f8033e0f133d01c7917d740ee8f0724b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json
@@ -0,0 +1,6 @@
+{
+    "((335, 1100), (431, 1048))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf19a563d39440f3804f663f87dfdc1878f8e4db
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json
@@ -0,0 +1,14 @@
+{
+    "((686, 1310), (746, 1210))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1446, 1826), (1318, 1826))": {
+        "seg_desc": "Place the usb hub inside the drawer.",
+        "seg_desc_zh": "将usb扩展坞放入抽屉。"
+    },
+    "((1967, 2435), (1967, 2399))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..70705b1572c65e29f8286907149e0a77d02910b4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json
@@ -0,0 +1,6 @@
+{
+    "((402, 894), (346, 862))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..311c817b8a6220fdbb65c63939cd25af9cb89f23
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json
@@ -0,0 +1,14 @@
+{
+    "((684, 1428), (684, 1368))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "((1540, 2025), (1508, 1997))": {
+        "seg_desc": "Take the usb hub outside the drawer.",
+        "seg_desc_zh": "将usb扩展坞拿出抽屉。"
+    },
+    "((2065, 2849), (2165, 2817))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f73813d0f0a532bb19e768aea01479cd450143
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json
@@ -0,0 +1,22 @@
+{
+    "((631, 916), (631, 920))": {
+        "seg_desc": "Hold the box to the position.",
+        "seg_desc_zh": "用手抓握盒子并保持位置。"
+    },
+    "((976, 1332), (976, 1436))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1436, 2149), (1496, 2149))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((2278, 2950), None)": {
+        "seg_desc": "Place the usb hub inside the box.",
+        "seg_desc_zh": "将usb扩展坞放入盒子。"
+    },
+    "((3198, 3943), (3198, 3963))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..5952547f2f3b2de9cb666e87363137b23dc20ff5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json
@@ -0,0 +1,6 @@
+{
+    "((367, 925), (503, 949))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f45ba110cf126e6183c602ef56400147f3a465
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json
@@ -0,0 +1,6 @@
+{
+    "((926, 2589), (956, 2531))": {
+        "seg_desc": "Remove the lightbulb from the lamp.",
+        "seg_desc_zh": "将灯泡从设备上卸下"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0b73ae9d1479b82265643f34f6fb1fad6ac866
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json
@@ -0,0 +1,6 @@
+{
+    "(None, (811, 2281))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c91581337832b93af58753e068e051f6bd1bd53
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json
@@ -0,0 +1,30 @@
+{
+    "(None, (497, 721))": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "((681, 914), None)": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "(None, (826, 1634))": {
+        "seg_desc": "insert the pencil into the sharpener",
+        "seg_desc_zh": "将铅笔插入卷笔刀"
+    },
+    "((1013, 2631), (1754, 2715))": {
+        "seg_desc": "Sharpen the pencil with the sharpener.",
+        "seg_desc_zh": "用卷笔刀削铅笔"
+    },
+    "((2675, 3075), (2748, 3191))": {
+        "seg_desc": "remove the pencil from the sharpener",
+        "seg_desc_zh": "将铅笔从卷笔刀中取出"
+    },
+    "((3151, 3279), None)": {
+        "seg_desc": "Hold the pencil to the position.",
+        "seg_desc_zh": "用手抓握铅笔并保持位置。"
+    },
+    "(None, (3235, 3567))": {
+        "seg_desc": "Rearrange the pencil from one position to another position.",
+        "seg_desc_zh": "将铅笔从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..241c2797f90bf1907691cd8e39acc92657b8ccc3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json
@@ -0,0 +1,10 @@
+{
+    "((564, 1100), None)": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    },
+    "((1164, 1805), (904, 1845))": {
+        "seg_desc": "Staple paper together with stapler.",
+        "seg_desc_zh": "用订书机装订纸"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..6362923ce60edf13d04c61c60970c7d4937b9b94
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12.json
@@ -0,0 +1,18 @@
+{
+    "((438, 695), None)": {
+        "seg_desc": "Hold the whiteboard pen to the position.",
+        "seg_desc_zh": "用手抓握白板笔并保持位置。"
+    },
+    "((799, 1827), (666, 1827))": {
+        "seg_desc": "Remove the pen cap.",
+        "seg_desc_zh": "移除笔盖"
+    },
+    "((2184, 3777), (1827, 3993))": {
+        "seg_desc": "Write with the whiteboard pen on the whiteboard.",
+        "seg_desc_zh": "用白板笔在白板上书写。"
+    },
+    "((3993, 4745), (3993, 5058))": {
+        "seg_desc": "Cap the pen.",
+        "seg_desc_zh": "盖上笔盖"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b99750a29806546f17f1cdf80857153374caa5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json
@@ -0,0 +1,26 @@
+{
+    "((524, 740), (524, 740))": {
+        "seg_desc": "Hold the box to the position.",
+        "seg_desc_zh": "用手抓握盒子并保持位置。"
+    },
+    "((836, 1136), (784, 1332))": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1240, 1472), None)": {
+        "seg_desc": "Remove the box lid.",
+        "seg_desc_zh": "移开盒子盖子"
+    },
+    "((1548, 1761), (1404, 1777))": {
+        "seg_desc": "Rearrange box lid from one position to another position.",
+        "seg_desc_zh": "将盒盖从一个位置移动到另一个位置。"
+    },
+    "((2013, 2557), (1957, 2321))": {
+        "seg_desc": "Take the usb hub outside the box.",
+        "seg_desc_zh": "将usb扩展坞拿出盒子。"
+    },
+    "((2733, 3562), (2733, 3570))": {
+        "seg_desc": "Put on the box lid.",
+        "seg_desc_zh": "盖上盒子盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__afea3bee7d688ce1a062__2023-04-23-09-43-47.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__afea3bee7d688ce1a062__2023-04-23-09-43-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..095fc7a5c6dfc9624f53b25411f7669a9e5b31e5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__afea3bee7d688ce1a062__2023-04-23-09-43-47.json
@@ -0,0 +1,6 @@
+{
+    "((181, 978), (281, 918))": {
+        "seg_desc": "Open the lid of the laptop.",
+        "seg_desc_zh": "打开笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__b1586429009f2901b2cc__2023-04-23-09-42-34.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__b1586429009f2901b2cc__2023-04-23-09-42-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..f52abb3031f19f7c2e2f91ad80c405c4dd7e59a4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__b1586429009f2901b2cc__2023-04-23-09-42-34.json
@@ -0,0 +1,6 @@
+{
+    "((459, 1352), (403, 1352))": {
+        "seg_desc": "Remove the usb stick from the laptop.",
+        "seg_desc_zh": "将usb从笔记本电脑上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3836ad3433bd673706286b083fd27650fcf2b7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00.json
@@ -0,0 +1,6 @@
+{
+    "((401, 525), None)": {
+        "seg_desc": "Press the button on the lamp.",
+        "seg_desc_zh": "按下台灯上的按钮。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82a801a8e6043e249e878341586115db615e89a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45.json
@@ -0,0 +1,6 @@
+{
+    "((708, 1528), (442, 1444))": {
+        "seg_desc": "Put the flower into the vase.",
+        "seg_desc_zh": "将花放入花瓶"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4bc7cd61c80892b26049469f6da1f11005fee61
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33.json
@@ -0,0 +1,6 @@
+{
+    "((468, 1177), (516, 1137))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__d447873bf1bc844be9a1__2023-04-23-09-35-30.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__d447873bf1bc844be9a1__2023-04-23-09-35-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..68709f84d4e83889ab0a825436cfb38413ddae74
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__d447873bf1bc844be9a1__2023-04-23-09-35-30.json
@@ -0,0 +1,10 @@
+{
+    "(None, (196, 236))": {
+        "seg_desc": "Hold the lightbulb to the position.",
+        "seg_desc_zh": "用手抓握灯泡并保持位置。"
+    },
+    "((1545, 3711), (1545, 3711))": {
+        "seg_desc": "Insert the lightbulb into the lamp.",
+        "seg_desc_zh": "将灯泡装入设备"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__db610c98752a6bccc54b__2023-04-23-10-27-43.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__db610c98752a6bccc54b__2023-04-23-10-27-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f4c0cb04467e375c3452203e90d74b2135ac50
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__db610c98752a6bccc54b__2023-04-23-10-27-43.json
@@ -0,0 +1,6 @@
+{
+    "((617, 3391), (384, 3787))": {
+        "seg_desc": "Write with the pencil on the paper.",
+        "seg_desc_zh": "用铅笔在纸上书写。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da870b25673126849f7bc4430da415614b4e041
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03.json
@@ -0,0 +1,6 @@
+{
+    "((499, 1355), (531, 1331))": {
+        "seg_desc": "Remove the power plug",
+        "seg_desc_zh": "移除电源插头"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a233f363d738ea095b8387d4d5dc647da30c653
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json
@@ -0,0 +1,14 @@
+{
+    "((622, 1315), (622, 1351))": {
+        "seg_desc": "Pull out the drawer.",
+        "seg_desc_zh": "拉开抽屉"
+    },
+    "(None, (1547, 2212))": {
+        "seg_desc": "Place the usb hub inside the drawer.",
+        "seg_desc_zh": "将usb扩展坞放入抽屉。"
+    },
+    "((2436, 2984), (2360, 2956))": {
+        "seg_desc": "Push in the drawer.",
+        "seg_desc_zh": "合上抽屉"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O001++seq__001ce74e719d859e35d1__2023-04-04-16-02-01.json b/raw/oakinkv2/program/desc_info/scene_02__O001++seq__001ce74e719d859e35d1__2023-04-04-16-02-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c04474d7a3cd52afe13722ead20e6fc7e49123e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O001++seq__001ce74e719d859e35d1__2023-04-04-16-02-01.json
@@ -0,0 +1,6 @@
+{
+    "((901, 1410), (680, 1301))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O001++seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37.json b/raw/oakinkv2/program/desc_info/scene_02__O001++seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..44856b48f1c06568abc39d0cb7567502a12f6858
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O001++seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37.json
@@ -0,0 +1,6 @@
+{
+    "((737, 1672), (737, 1803))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bf4ac7677cdd5a59a6b3772b3a00035f5d417d2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json
@@ -0,0 +1,6 @@
+{
+    "((1407, 4497), (1076, 5066))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..8943cf3fb12dcbee3669e72565831a9e1cf99609
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json
@@ -0,0 +1,6 @@
+{
+    "((589, 1455), (668, 1455))": {
+        "seg_desc": "Remove the usb stick from the usb hub.",
+        "seg_desc_zh": "将usb从usb扩展坞上移除。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc717575424c682bf883a1257eaff06c30e3d3b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json
@@ -0,0 +1,6 @@
+{
+    "((655, 1278), (663, 1241))": {
+        "seg_desc": "Insert the usb stick into the usb hub.",
+        "seg_desc_zh": "将usb插入usb扩展坞。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1511750cdffe886314a40d1a610f7eb394ffa64
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json
@@ -0,0 +1,10 @@
+{
+    "((1215, 2314), None)": {
+        "seg_desc": "Hold the laptop to the position.",
+        "seg_desc_zh": "用手抓握笔记本电脑并保持位置。"
+    },
+    "((2354, 2797), (1607, 2797))": {
+        "seg_desc": "Close the lid of the laptop.",
+        "seg_desc_zh": "合上笔记本电脑盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf524bf3e7587a64419b9b98960921898233a85
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json
@@ -0,0 +1,6 @@
+{
+    "((1105, 2910), (1521, 2910))": {
+        "seg_desc": "Insert the usb stick into the laptop.",
+        "seg_desc_zh": "将usb插入笔记本电脑。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..4589650b31f7af7b4a1aaabe315ab0468ae59b0f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1269, 4443))": {
+        "seg_desc": "Brush whiteboard with the whiteboard eraser.",
+        "seg_desc_zh": "用白板擦擦白板"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__1be0ede087e0ca11e442__2023-04-27-18-20-49.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__1be0ede087e0ca11e442__2023-04-27-18-20-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ef24e36303de6e9d4eea4b4c69d6f151fdd17a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__1be0ede087e0ca11e442__2023-04-27-18-20-49.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1197, 1686))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (1686, 2679))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (2679, 3507))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__53be15af2c1f6371a18c__2023-04-27-18-18-03.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__53be15af2c1f6371a18c__2023-04-27-18-18-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d9f5b83de901af491bb0e212c30f988cff36e23
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__53be15af2c1f6371a18c__2023-04-27-18-18-03.json
@@ -0,0 +1,14 @@
+{
+    "(None, (2352, 2940))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((1043, 6403), (2940, 5054))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (5054, 5763))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..41427ba08d6976068357dd21d954caca36e981bb
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1119, 2201))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3629f8686f59d8bfccb65eb6766eed32215f6976
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00.json
@@ -0,0 +1,6 @@
+{
+    "((1166, 3680), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..69bd589ebed7b37ded914f72c692f08b701fa19f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04.json
@@ -0,0 +1,14 @@
+{
+    "((581, 1805), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1805, 4996), (2114, 6042))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((4996, 5936), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..d46945196df36ff53770688d48ced4f31110491a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07.json
@@ -0,0 +1,18 @@
+{
+    "((1207, 1992), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1992, 3721), (1992, 3721))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3721, 6667))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (6667, 8897))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e8fbbac834a3b9405a080f1d4718c33dc51189
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1248, 2321))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A001++seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30.json b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..27778b0f0e2bd554edffa4db7c5b00e3b59c1f52
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A001++seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30.json
@@ -0,0 +1,10 @@
+{
+    "((1205, 1837), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (2357, 3786))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..34af7cf402d10c5db66d385e5d130c443f1d5a8f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1226, 2114))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (2451, 3511))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..13c339ac6f86653c316baf8062e40b595d6872c1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json
@@ -0,0 +1,26 @@
+{
+    "((956, 1564), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1564, 3910), (1564, 3870))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3914, 4634), (4054, 4634))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4634, 5939))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((4794, 5307), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((6271, 6684), (5939, 6884))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3538fc7d48b048a6f87a0a3bed67df93ac67c8e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
@@ -0,0 +1,70 @@
+{
+    "((930, 2596), None)": {
+        "seg_desc": "Shake the experiment substance A in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质A。"
+    },
+    "(None, (2796, 3072))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (3176, 3648))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((3861, 4691), (4249, 4569))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((4691, 5944), (4813, 5794))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((5944, 6194), (6094, 6178))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((6274, 6326), (6302, 6330))": {
+        "seg_desc": "Rearrange the asbestos mesh from one position to another position.",
+        "seg_desc_zh": "将石棉网从一个位置移动到另一个位置。"
+    },
+    "((6458, 6999), None)": {
+        "seg_desc": "Heat the experiment substance A in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质A。"
+    },
+    "(None, (7487, 7595))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((7691, 8025), (7691, 7943))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((8025, 8752), (8108, 8716))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((8752, 9272), (8788, 9152))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((9521, 9977), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((10221, 10533), (10197, 10591))": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (10591, 11042))": {
+        "seg_desc": "Hold the conical flask to the position.",
+        "seg_desc_zh": "用手抓握锥形瓶并保持位置。"
+    },
+    "((10649, 10846), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((10934, 13479), (11206, 13407))": {
+        "seg_desc": "Pour the experiment substance C from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质C从一个锥形瓶倒入另一个烧杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2a3b5d16c36d7a46ad4b2147aeafbd23dd9f85
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json
@@ -0,0 +1,26 @@
+{
+    "(None, (1120, 1705))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1825, 3438))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((3310, 3438), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3438, 4155), (3438, 4155))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4155, 4907))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (4907, 5824))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7beec4ad1d9c8bc8a6560e7650e13c961924d7b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json
@@ -0,0 +1,22 @@
+{
+    "(None, (1038, 1518))": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((1755, 2287), None)": {
+        "seg_desc": "Heat experiment substances in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质。"
+    },
+    "((2643, 3168), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3292, 3648))": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((4056, 4769), (3760, 4749))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5a15f1836ef54bc27b03d90eb100335b94a525
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json
@@ -0,0 +1,22 @@
+{
+    "(None, (998, 1954))": {
+        "seg_desc": "Shake experiment substances in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质。"
+    },
+    "(None, (1954, 2415))": {
+        "seg_desc": "Hold the conical flask to the position.",
+        "seg_desc_zh": "用手抓握锥形瓶并保持位置。"
+    },
+    "((2170, 2415), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2415, 4312), (2415, 4312))": {
+        "seg_desc": "Pour experiment substances from the conical flask to the test tube.",
+        "seg_desc_zh": "将实验物质从一个锥形瓶倒入另一个试管。"
+    },
+    "((4312, 4796), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..432d059802e9b25641a74a5541d4c1b65c0c71e1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json
@@ -0,0 +1,38 @@
+{
+    "(None, (1022, 2098))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1587, 1924), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((2000, 2068), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((2128, 3629), (2098, 3629))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3629, 4057))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((4710, 7272), (4297, 7067))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (7384, 7612))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((7272, 9089), (7612, 8941))": {
+        "seg_desc": "Pour experiment substances from the beaker to another beaker.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个另一个烧杯。"
+    },
+    "(None, (8941, 9453))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf757ae43c0a0496b31ef864d00c44a4f00f504
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json
@@ -0,0 +1,38 @@
+{
+    "(None, (841, 1021))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (1021, 1634))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (1634, 2250))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((1750, 2250), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2250, 2979), (2250, 2979))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "(None, (2979, 3483))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((2979, 3687), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "(None, (3619, 4031))": {
+        "seg_desc": "Pour experiment substances from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个烧杯。"
+    },
+    "(None, (4031, 4324))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c897bf9d233c1f8c45d616cba1de5f3717aeaa
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json
@@ -0,0 +1,6 @@
+{
+    "((1284, 2353), (1056, 2353))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57674d564177212b580244cac9f12ac734f66db
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json
@@ -0,0 +1,14 @@
+{
+    "(None, (1014, 1226))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1383, 1464), (1226, 2336))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (2336, 2845))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..316256aca058ef65fa6aadb39b3ae744d4533f23
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json
@@ -0,0 +1,74 @@
+{
+    "((1104, 1585), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1585, 2489), None)": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "(None, (1837, 2489))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2489, 4415), (2489, 4471))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "(None, (4471, 5403))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((4847, 5403), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((5403, 6432), (5403, 6432))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((6432, 7353), (6432, 7353))": {
+        "seg_desc": "swap the test tube and another test tube in hand.",
+        "seg_desc_zh": "交换手中的试管和另一个试管。"
+    },
+    "((7353, 8718), (7353, 8718))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((8718, 9623), (8718, 9623))": {
+        "seg_desc": "Hold the test tube and another test tube to the position.",
+        "seg_desc_zh": "用手抓握试管和另一个试管并保持位置。"
+    },
+    "((9623, 10791), (9623, 10791))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((10791, 11520), (10791, 11520))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((11520, 12072), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (11520, 12212))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((12320, 13017), (12212, 13017))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个烧杯。"
+    },
+    "(None, (13017, 13757))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((13661, 13858), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "(None, (13814, 14194))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09b1fc90f6745355f4c39109e5bca87b4a76e37
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json
@@ -0,0 +1,14 @@
+{
+    "((822, 1142), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1070, 2255))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (3299, 3880))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d1bde94df6005ba773eef1c3cadf84136693ad
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json
@@ -0,0 +1,14 @@
+{
+    "(None, (757, 1242))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((1514, 2030), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2399, 3079))": {
+        "seg_desc": "Heat experiment substances in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f25ae4eb12632253b7184cf66f088450177a6b8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
@@ -0,0 +1,70 @@
+{
+    "((950, 1330), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (1526, 1902))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((2743, 4636), (2090, 4936))": {
+        "seg_desc": "Pour the experiment substance B from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个锥形瓶倒入另一个烧杯。"
+    },
+    "(None, (5133, 5561))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((6133, 6606), (5693, 6670))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((6850, 7286), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((7286, 8319), (7430, 7971))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (8099, 9199))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((9240, 9836), (9256, 9880))": {
+        "seg_desc": "Rearrange the alcohol burner and the tripod from one position to another position.",
+        "seg_desc_zh": "将酒精灯和三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (10064, 10496))": {
+        "seg_desc": "Heat the experiment substance C in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质C。"
+    },
+    "(None, (10849, 12742))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((12894, 13446), (12874, 13362))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((13446, 14237), (13531, 14211))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((14237, 14711), (14263, 14575))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (14804, 15488))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((15364, 17562), (15688, 17337))": {
+        "seg_desc": "Pour the experiment substance D from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质D从一个烧杯倒入另一个试管。"
+    },
+    "(None, (17538, 18010))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..e903f0659a8b38081c148823b30dd16ec813d608
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json
@@ -0,0 +1,30 @@
+{
+    "(None, (924, 1316))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1456, 2969), (1481, 2689))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (2878, 3054))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((3122, 3314), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3314, 4967), (3054, 4783))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (4922, 5643))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (5643, 5892))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..92890efa7c9770327217cbe92f744823af6a9e1c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json
@@ -0,0 +1,10 @@
+{
+    "(None, (957, 2286))": {
+        "seg_desc": "Shake experiment substances in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质。"
+    },
+    "((2462, 3095), None)": {
+        "seg_desc": "Heat experiment substances in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..faf423376e8022eea7e1c263ded9fe2edefeef55
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json
@@ -0,0 +1,22 @@
+{
+    "(None, (1103, 1755))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((1423, 1755), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1755, 4017), (1755, 3757))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3969, 4833))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (4833, 5274))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f9aaf8e965ed56c4096afff7862abbc0fd06d44
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json
@@ -0,0 +1,26 @@
+{
+    "((812, 1111), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1308, 2241))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2497, 2953), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3253, 3782))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((4170, 4586), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((4683, 5151), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dfddabd7d1721d9b133b59bc597b37b4ea19480
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json
@@ -0,0 +1,10 @@
+{
+    "((903, 2352), (1156, 2280))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (2557, 3781))": {
+        "seg_desc": "Shake experiment substances in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..a248dd121b1f971671137322508c97c0b9df1544
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json
@@ -0,0 +1,78 @@
+{
+    "((893, 1201), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1201, 1769), (1317, 1701))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1769, 2994), (1837, 2914))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2994, 3607), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3074, 3603))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "((3607, 4187), None)": {
+        "seg_desc": "Hold the alcohol burner to the position.",
+        "seg_desc_zh": "用手抓握酒精灯并保持位置。"
+    },
+    "(None, (3727, 4107))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((4187, 4339), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((4651, 5224), None)": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    },
+    "((5880, 6253), (5676, 6245))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (6397, 6845))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((6917, 7105), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (7301, 7345))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "(None, (7413, 7798))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (7886, 8090))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (8306, 9659))": {
+        "seg_desc": "Hold the glass rod to the position.",
+        "seg_desc_zh": "用手抓握玻璃棒并保持位置。"
+    },
+    "((8874, 9435), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((9595, 11376), (9787, 11204))": {
+        "seg_desc": "Pour the experiment substance C from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质C从一个锥形瓶倒入另一个烧杯。"
+    },
+    "(None, (11332, 11789))": {
+        "seg_desc": "Rearrange the glass rod from one position to another position.",
+        "seg_desc_zh": "将玻璃棒从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6ece6fbebb2067474253__2023-04-22-20-42-59.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6ece6fbebb2067474253__2023-04-22-20-42-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..710923a02ccf48511b450b29a1a5f53510449f38
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__6ece6fbebb2067474253__2023-04-22-20-42-59.json
@@ -0,0 +1,46 @@
+{
+    "((785, 941), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((941, 1413), (1321, 1389))": {
+        "seg_desc": "Hold the test tube and the beaker to the position.",
+        "seg_desc_zh": "用手抓握试管和烧杯并保持位置。"
+    },
+    "((1413, 3023), (1437, 2842))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (2971, 3791))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((3278, 3791), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3791, 4780), (3791, 4780))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "((4780, 5236), (4780, 5236))": {
+        "seg_desc": "swap the test tube and another test tube in hand.",
+        "seg_desc_zh": "交换手中的试管和另一个试管。"
+    },
+    "((5236, 6365), (5236, 6365))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "(None, (6365, 6669))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((6365, 6669), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((6669, 7166), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__70bf7db171a7430a59a3__2023-04-22-20-30-56.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__70bf7db171a7430a59a3__2023-04-22-20-30-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16231e738cb13fb1f837d0336965605a6e627d3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__70bf7db171a7430a59a3__2023-04-22-20-30-56.json
@@ -0,0 +1,34 @@
+{
+    "((731, 979), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1191, 2148))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2524, 2784), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2784, 3656), (2976, 3656))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3656, 4337))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((4457, 4689), (4337, 5210))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((4689, 4946), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (5494, 5998))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab5adc4e091324db6834f858c84bb9ea7a806868
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39.json
@@ -0,0 +1,22 @@
+{
+    "(None, (1060, 1392))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1544, 3085), (1624, 3133))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((3274, 3434), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3434, 5007), (3434, 5007))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((5007, 5439), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..220df584bfd791323fa5f07244cea1bb91939427
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json
@@ -0,0 +1,102 @@
+{
+    "((1047, 1419), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((1419, 1984), None)": {
+        "seg_desc": "Hold the conical flask to the position.",
+        "seg_desc_zh": "用手抓握锥形瓶并保持位置。"
+    },
+    "(None, (1671, 1984))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1984, 3697), (1984, 3697))": {
+        "seg_desc": "Pour the experiment substance A from the conical flask to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个锥形瓶倒入另一个试管。"
+    },
+    "(None, (3697, 4129))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((4389, 4662), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((4662, 5192), (4798, 5126))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((5192, 6379), (5258, 6379))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((6379, 6695), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (6791, 7336))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((7067, 7336), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((7336, 7848), (7336, 7848))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (7848, 9085))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "((9277, 9681), (9085, 9681))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((9681, 9993), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (9681, 10029))": {
+        "seg_desc": "Rearrange the test tube holder from one position to another position.",
+        "seg_desc_zh": "将试管夹从一个位置移动到另一个位置。"
+    },
+    "((10342, 10630), (10270, 10618))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((10630, 10786), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((10994, 11386), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((11386, 11855), None)": {
+        "seg_desc": "Hold the conical flask to the position.",
+        "seg_desc_zh": "用手抓握锥形瓶并保持位置。"
+    },
+    "(None, (11575, 11855))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((11855, 12299), (11855, 12299))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the conical flask.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个锥形瓶。"
+    },
+    "((12299, 12767), None)": {
+        "seg_desc": "Hold the conical flask to the position.",
+        "seg_desc_zh": "用手抓握锥形瓶并保持位置。"
+    },
+    "(None, (12299, 12663))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (12787, 14016))": {
+        "seg_desc": "Shake the mixture of experiment substance A and B in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质A和B的混合物。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..4810e30fe211a26671216bbf22d4e751ea932425
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18.json
@@ -0,0 +1,26 @@
+{
+    "((1163, 1239), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((1359, 1639), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1639, 3425), (1639, 3425))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3425, 3853), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((4125, 4473), (4177, 4465))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (4610, 5806))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f2f36c99eeb3fe705dd7d17c326719802da7847
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34.json
@@ -0,0 +1,46 @@
+{
+    "((1083, 1499), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1499, 2364), (1687, 2104))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (2320, 3501))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((3721, 4237), None)": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "((4390, 4894), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((5210, 5871), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((6523, 7088), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((7088, 7984), (7208, 7800))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (8388, 8565))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((8845, 10494), (8565, 10602))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (10602, 10970))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__85abe9be20dc1401359b__2023-04-22-19-37-32.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__85abe9be20dc1401359b__2023-04-22-19-37-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..b00807e1ecef7be93340183029d84c63d655bc57
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__85abe9be20dc1401359b__2023-04-22-19-37-32.json
@@ -0,0 +1,22 @@
+{
+    "((1057, 1185), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1185, 1545), (929, 1577))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1577, 2358))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((2562, 2946), (2358, 3131))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "((3499, 3975), (3315, 3975))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__89667ef51c43f56a5d07__2023-04-22-18-31-50.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__89667ef51c43f56a5d07__2023-04-22-18-31-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..d979defb36bbf8b515fe0c7eec680e65fde19d97
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__89667ef51c43f56a5d07__2023-04-22-18-31-50.json
@@ -0,0 +1,22 @@
+{
+    "(None, (952, 1524))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1808, 2381), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((2545, 4122), (2257, 4058))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (4058, 4566))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "(None, (4765, 5227))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__897a4742e7e787a11b08__2023-04-22-20-46-30.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__897a4742e7e787a11b08__2023-04-22-20-46-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..37cfd751727502de201961d2bab6c56940bd5b61
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__897a4742e7e787a11b08__2023-04-22-20-46-30.json
@@ -0,0 +1,34 @@
+{
+    "((1098, 1478), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1478, 3331), (677, 3155))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3267, 4016))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "((4123, 4276), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((4276, 5068), (4016, 5068))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "((5068, 5433), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (5068, 5581))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((5581, 5901), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..12a69ebf5a2416178b86b94fb9449e63bc5576c4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json
@@ -0,0 +1,58 @@
+{
+    "((845, 1166), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (1370, 1790))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1898, 2270))": {
+        "seg_desc": "Hold the glass rod to the position.",
+        "seg_desc_zh": "用手抓握玻璃棒并保持位置。"
+    },
+    "((2234, 4520), (2407, 4300))": {
+        "seg_desc": "Pour the experiment substance B from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个锥形瓶倒入另一个烧杯。"
+    },
+    "(None, (4496, 4760))": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (4856, 5113))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((5285, 5517), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((5517, 6089), (5601, 6053))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((6089, 6530), (6221, 7342))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (7730, 8347))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (8579, 9031))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "(None, (9159, 9688))": {
+        "seg_desc": "Heat the mixture of experiment substance A and B in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A和B的混合物。"
+    },
+    "((10112, 10300), (10228, 10460))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((10468, 11301), (10677, 11301))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__94d04425afc1b0851feb__2023-04-22-19-05-10.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__94d04425afc1b0851feb__2023-04-22-19-05-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b2484fcaeff56356af4ff19e84e1e6b0b79d414
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__94d04425afc1b0851feb__2023-04-22-19-05-10.json
@@ -0,0 +1,14 @@
+{
+    "((1370, 3040), (1054, 2856))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (2988, 3252))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((3400, 4056), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82fdeb918e8c5f46f1748e4579f0f41a766d074
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json
@@ -0,0 +1,58 @@
+{
+    "((933, 1221), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1221, 1693), (1289, 1541))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1649, 2633))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (2793, 3310))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "((3531, 3975), (3451, 3983))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((4099, 4479), None)": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    },
+    "(None, (4788, 4924))": {
+        "seg_desc": "Rearrange the glass rod from one position to another position.",
+        "seg_desc_zh": "将玻璃棒从一个位置移动到另一个位置。"
+    },
+    "(None, (4968, 6997))": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((7257, 7453), None)": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((7958, 8446), (7878, 8266))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((8650, 9183), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (9639, 9835))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((9363, 11184), (9835, 11260))": {
+        "seg_desc": "Pour the solution B from the beaker to another beaker.",
+        "seg_desc_zh": "将溶液B从一个烧杯倒入另一个另一个烧杯。"
+    },
+    "(None, (11260, 11705))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec5dce320f443078b8eaf956acf925bce60b504
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json
@@ -0,0 +1,54 @@
+{
+    "(None, (965, 1118))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (1118, 1739))": {
+        "seg_desc": "Shake the experiment substance A in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质A。"
+    },
+    "(None, (1739, 2052))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((2140, 2340), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((2392, 2548), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (2580, 3405))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (3717, 4109))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((4065, 4621), (4225, 4670))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4670, 5851))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "((6031, 7604), (5851, 7604))": {
+        "seg_desc": "Pour the experiment substance B from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质B从一个烧杯倒入另一个试管。"
+    },
+    "((7604, 8404), (7604, 8432))": {
+        "seg_desc": "Pour the experiment substance D from the test tube holder to the beaker.",
+        "seg_desc_zh": "将实验物质D从一个试管夹倒入另一个烧杯。"
+    },
+    "((8593, 8757), (8432, 9137))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((8757, 9053), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ded1954b4f2c75b17f9d47fc2b6f8ce2336a5b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json
@@ -0,0 +1,22 @@
+{
+    "((984, 1288), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1424, 1588), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1724, 2553))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2580, 2725), (2757, 3101))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3445, 3990))": {
+        "seg_desc": "Heat experiment substances in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..655a1e3db3267e85fe4c86d50fb3b11db497e3f8
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json
@@ -0,0 +1,10 @@
+{
+    "((941, 1954), (1113, 1798))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((2626, 3951), (2798, 4119))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fea5e027f0f4d9efbc9afa49faa2d97725a8a2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json
@@ -0,0 +1,34 @@
+{
+    "((1265, 1386), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1386, 2575), (1006, 2519))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((2679, 3712), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (2679, 3712))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((3712, 4144), (3712, 4144))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4144, 4800))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((4945, 5253), (4800, 5669))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((5253, 5545), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1821d3bd122f7275dd6cb9225bae5a8310c0672
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
@@ -0,0 +1,78 @@
+{
+    "(None, (1038, 1455))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "((1667, 2195), (1667, 2215))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((2315, 2484), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((2484, 3158), (2652, 3064))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((3158, 4435), (3252, 4305))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((4435, 4825), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (4565, 4865))": {
+        "seg_desc": "Hold the asbestos mesh to the position.",
+        "seg_desc_zh": "用手抓握石棉网并保持位置。"
+    },
+    "((5598, 6226), None)": {
+        "seg_desc": "Heat the experiment substance B in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质B。"
+    },
+    "(None, (6398, 8224))": {
+        "seg_desc": "Stir the experiment substance B in the conical flask with the glass rod.",
+        "seg_desc_zh": "在锥形瓶中用玻璃棒搅拌实验物质B。"
+    },
+    "((8436, 8544), (8428, 8552))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((8580, 9000), (8724, 8936))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((9000, 9597), (9064, 9449))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (9817, 10215))": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((9873, 10121), None)": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (10215, 10641))": {
+        "seg_desc": "Hold the conical flask to the position.",
+        "seg_desc_zh": "用手抓握锥形瓶并保持位置。"
+    },
+    "((10309, 10673), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (10745, 11166))": {
+        "seg_desc": "Hold the glass rod to the position.",
+        "seg_desc_zh": "用手抓握玻璃棒并保持位置。"
+    },
+    "((11122, 13087), (11402, 12887))": {
+        "seg_desc": "Pour the experiment substance C from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质C从一个锥形瓶倒入另一个烧杯。"
+    },
+    "(None, (13039, 13371))": {
+        "seg_desc": "Rearrange the glass rod from one position to another position.",
+        "seg_desc_zh": "将玻璃棒从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c16e906b65fe0b7ec69a695cb44645f75c51ec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
@@ -0,0 +1,66 @@
+{
+    "(None, (1022, 1822))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "((1610, 2146), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((2315, 2619), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((2619, 3180), (2775, 3151))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((3180, 4510), (3303, 4424))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((4510, 5049), (4596, 4985))": {
+        "seg_desc": "Rearrange the alcohol burner and the tripod from one position to another position.",
+        "seg_desc_zh": "将酒精灯和三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (5057, 5133))": {
+        "seg_desc": "Rearrange the asbestos mesh from one position to another position.",
+        "seg_desc_zh": "将石棉网从一个位置移动到另一个位置。"
+    },
+    "((5337, 5734), None)": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    },
+    "(None, (6070, 7964))": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((8272, 8597), (8272, 8469))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((8597, 9200), (8677, 9181))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((9200, 9409), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((9717, 10222), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (10530, 10858))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (10858, 11399))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个烧杯。"
+    },
+    "(None, (11399, 11887))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0195c284db3b8e73c638696cb25b2884d4ea008
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
@@ -0,0 +1,50 @@
+{
+    "(None, (1103, 1399))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1527, 1819), (1399, 1827))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (2031, 3184))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (3364, 3925))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (4033, 4533))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((4605, 4957), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((5169, 5450), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((5578, 6106), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((6162, 7844), (5906, 8356))": {
+        "seg_desc": "Pour the experiment substance B from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个锥形瓶倒入另一个烧杯。"
+    },
+    "(None, (8664, 9225))": {
+        "seg_desc": "Heat the mixture of experiment substance A and B in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A和B的混合物。"
+    },
+    "((9625, 9917), (9545, 9741))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (10029, 10570))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..f753761c5e4ac003dedfe03fa458c870634095c5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json
@@ -0,0 +1,18 @@
+{
+    "((934, 2255), (1223, 2119))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((3384, 3612), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3612, 5173), (3032, 5173))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((5173, 5618), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..1693e0e1f5a4beec9bc7b38ada8fcb710b974930
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json
@@ -0,0 +1,18 @@
+{
+    "(None, (1445, 1997))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((1649, 1997), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1997, 4150), (1997, 4150))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((4150, 4804), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa649195f8c83db9777e9d674af76a2eb232350
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07.json
@@ -0,0 +1,10 @@
+{
+    "(None, (1055, 1575))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (1775, 2620))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..44397da2f0627028ecb09c8ee3da308bcd0673c0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49.json
@@ -0,0 +1,30 @@
+{
+    "(None, (753, 1354))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((1566, 1810), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1934, 2054), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2186, 2987))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (3143, 3571))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3631, 3768))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (4032, 4564))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f98cbaa0fab3877b8a144ca159b0c4969e8839a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json
@@ -0,0 +1,30 @@
+{
+    "((900, 1145), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1261, 2073))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2686, 2834), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2834, 3514), (2281, 3514))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3514, 4187))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((4311, 4531), (4187, 4935))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((4531, 4747), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda8de94bd397db2ca205f8714fc1f62291e4e4d
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json
@@ -0,0 +1,30 @@
+{
+    "((1054, 1319), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1319, 2219), (1319, 2219))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (2219, 3989))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((2476, 3084), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((3888, 4177), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3989, 4180))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((4649, 5097), (4180, 5478))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99e4c52cd3556465ab2089bb91edc723c7e9d69
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json
@@ -0,0 +1,22 @@
+{
+    "((1199, 1367), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1367, 1716), (875, 1716))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1716, 2124))": {
+        "seg_desc": "Shake experiment substances in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质。"
+    },
+    "(None, (2124, 2900))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((3081, 3793), (2900, 3757))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..af81b59dae5d1c489c43c19535d216b8e52444d1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
@@ -0,0 +1,74 @@
+{
+    "(None, (1202, 1782))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1698, 3988), (1979, 3792))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3948, 4320))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((4758, 5078), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((5078, 5671), (5078, 5470))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((5671, 5923), (5671, 6952))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (7140, 7992))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((7704, 7992), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((7992, 8681), (7992, 8681))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (8681, 9826))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "(None, (9826, 11051))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((9914, 10094), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((10294, 11051), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((11267, 12047), (11051, 11847))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "(None, (12015, 12568))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个烧杯。"
+    },
+    "(None, (12568, 12964))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (13164, 14701))": {
+        "seg_desc": "Stir the mixture of experiment substance A and B in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A和B的混合物。"
+    },
+    "((15017, 15722), (14837, 15614))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56b789d635b115727cb8951453d35cfafc29cbf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json
@@ -0,0 +1,34 @@
+{
+    "((642, 930), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1158, 1982))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2319, 2487), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2487, 3280), (2687, 3280))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3280, 3876))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (3876, 4813))": {
+        "seg_desc": "Shake experiment substances in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质。"
+    },
+    "((4921, 5181), (4813, 5669))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((5181, 5521), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6529b4d8dcaa8e25fddf5c22626b30b7f746732f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json
@@ -0,0 +1,38 @@
+{
+    "((1030, 1178), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1178, 1702), (1278, 1634))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1702, 2447), (1798, 2819))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (3159, 3752))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (3964, 4520))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((4792, 5321), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((5889, 6498), (5845, 6402))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((6498, 7430), (6542, 7266))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (7606, 9668))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..583665010d33701ef70d2db3378859080af3241a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json
@@ -0,0 +1,50 @@
+{
+    "((936, 2613), (1320, 2433))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((2729, 2985), None)": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (3053, 3109))": {
+        "seg_desc": "Hold the asbestos mesh to the position.",
+        "seg_desc_zh": "用手抓握石棉网并保持位置。"
+    },
+    "(None, (3161, 3193))": {
+        "seg_desc": "Hold the asbestos mesh to the position.",
+        "seg_desc_zh": "用手抓握石棉网并保持位置。"
+    },
+    "((3502, 3662), (3250, 3650))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "(None, (3922, 4242))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((4278, 4570), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((4711, 5003), (4623, 4890))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (4890, 5155))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((5151, 5371), None)": {
+        "seg_desc": "Hold the ignitor to the position.",
+        "seg_desc_zh": "用手抓握点火器并保持位置。"
+    },
+    "(None, (5307, 6148))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((5992, 6244), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf458fbcc03ee152d84ecc8de10a0c7c958a7fd6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json
@@ -0,0 +1,26 @@
+{
+    "((795, 1112), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1208, 1364), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1552, 2425))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2541, 2865), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3185, 3694))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "(None, (3938, 5239))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd16692e85393b01c6f84af8068d6ad5df8315fa
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json
@@ -0,0 +1,14 @@
+{
+    "((1174, 1555), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1555, 2575), (1835, 2760))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (2868, 4169))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7c32135d7ace9f97bfc6ca7f252c0ba8e524f3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json
@@ -0,0 +1,34 @@
+{
+    "((1098, 1310), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1310, 1602), (1190, 1602))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1602, 2599))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (2599, 3479))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((2771, 3295), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (3479, 4284))": {
+        "seg_desc": "Shake experiment substances in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质。"
+    },
+    "((4468, 4800), (4284, 5277))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((4800, 5144), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..54f5498ccc5ac8d3078cdd0bf56ebfe4df6001b9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json
@@ -0,0 +1,14 @@
+{
+    "(None, (964, 1580))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1856, 2329), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "(None, (2629, 4022))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..e91acd01b778ac8b6deeb93ddea876364218341c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json
@@ -0,0 +1,38 @@
+{
+    "(None, (1191, 1931))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((1623, 1931), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1931, 3644), (1931, 3540))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3644, 3748), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "(None, (3708, 4221))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((3941, 4221), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((4221, 5161), (4221, 5161))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "(None, (5161, 5566))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((5161, 6094), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..25619de83eb90f2af728746ac41607440216f85a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39.json
@@ -0,0 +1,50 @@
+{
+    "((962, 1363), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1507, 1727))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1847, 2740))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((3224, 3460), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3460, 4157), (3540, 4193))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4193, 5293))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (5293, 6330))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((5465, 5938), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((5982, 6246), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((6462, 7203), (6330, 7055))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "(None, (7159, 7883))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (7883, 8239))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb8f9d182b9c526448584034dfc4a191df622ec
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
@@ -0,0 +1,78 @@
+{
+    "(None, (905, 1337))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1221, 2858), (1477, 2874))": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "(None, (2874, 3859))": {
+        "seg_desc": "Hold the glass rod to the position.",
+        "seg_desc_zh": "用手抓握玻璃棒并保持位置。"
+    },
+    "((3062, 3523), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((3839, 6064), (4099, 5944))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the conical flask.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个锥形瓶。"
+    },
+    "(None, (6032, 6441))": {
+        "seg_desc": "Rearrange the glass rod from one position to another position.",
+        "seg_desc_zh": "将玻璃棒从一个位置移动到另一个位置。"
+    },
+    "((6617, 6805), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (6869, 7293))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (7441, 7918))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((7990, 8150), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((8150, 8700), None)": {
+        "seg_desc": "Hold the alcohol burner to the position.",
+        "seg_desc_zh": "用手抓握酒精灯并保持位置。"
+    },
+    "(None, (8234, 8606))": {
+        "seg_desc": "Rearrange the ignitor from one position to another position.",
+        "seg_desc_zh": "将点火器从一个位置移动到另一个位置。"
+    },
+    "((8700, 9335), (8794, 9299))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((9335, 9623), (9467, 10504))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((10560, 10976), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (10784, 11264))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "((11432, 11873), None)": {
+        "seg_desc": "Heat the experiment substance A and B in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热实验物质A和B。"
+    },
+    "((12513, 12841), (12513, 12725))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((12841, 13526), (12957, 13446))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..7def728af2573ed0e8b70f1d9f40baa8cb2f5eb9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json
@@ -0,0 +1,70 @@
+{
+    "((924, 1268), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1236, 2024))": {
+        "seg_desc": "Shake the experiment substance A in the beaker.",
+        "seg_desc_zh": "在烧杯中摇晃实验物质A。"
+    },
+    "((2164, 2381), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2381, 4178), (2028, 4006))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "(None, (4134, 4402))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((4430, 4738), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((4738, 5147), (4842, 5087))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (5203, 5919))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "(None, (5919, 6095))": {
+        "seg_desc": "Hold the ignitor to the position.",
+        "seg_desc_zh": "用手抓握点火器并保持位置。"
+    },
+    "((6095, 6239), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((6239, 6896), (6231, 6988))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (6988, 8301))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "((8645, 9121), (8301, 9097))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((9121, 9830), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "(None, (9282, 9585))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (9762, 10342))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个烧杯。"
+    },
+    "(None, (10342, 10623))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c372cb5b3c3e052fc5a92dbf817e6c855dfefc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json
@@ -0,0 +1,14 @@
+{
+    "((1058, 1426), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1426, 3314), (1758, 3314))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3314, 3978), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a96c27320acdf864e2981c39084ea336f3cb928
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
@@ -0,0 +1,42 @@
+{
+    "((603, 843), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((967, 1247), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((1444, 1544), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((1544, 2440), None)": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((2440, 3429), (2372, 4033))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the conical flask.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个锥形瓶。"
+    },
+    "((3429, 3813), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((4161, 4238), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((4238, 4798), (4037, 4798))": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((4798, 5570), (4798, 6007))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the conical flask.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个锥形瓶。"
+    },
+    "((5570, 5899), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b02c62dc48c1a4e446a4bbc96d9c78b43529ab2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
@@ -0,0 +1,46 @@
+{
+    "(None, (1019, 1235))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1491, 3233), (1235, 3293))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "((3417, 3729), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3729, 4594), (3293, 4594))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((4594, 5230), (4594, 5230))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((5230, 5999), (5230, 5999))": {
+        "seg_desc": "Pour the experiment substance A from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个另一个试管。"
+    },
+    "((5999, 6951), None)": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个烧杯。"
+    },
+    "(None, (5999, 6951))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个烧杯。"
+    },
+    "(None, (6951, 7496))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((6951, 7872), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "(None, (7708, 8416))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e911a98193e128d72dcd5461e6a2950e41049a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json
@@ -0,0 +1,18 @@
+{
+    "(None, (877, 2066))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1830, 2318), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((2442, 3927), (2274, 3271))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (3271, 3799))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba465728949240ccc207525c13eff950b94036f7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json
@@ -0,0 +1,6 @@
+{
+    "((741, 1602), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..c04e1a3f5310d4957fbf4a45b7f69653f08ca37a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json
@@ -0,0 +1,10 @@
+{
+    "((856, 1216), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1477, 2669))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..82733cc4250cef792f055837b95e954d9ecd3374
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json
@@ -0,0 +1,14 @@
+{
+    "((1213, 1477), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1477, 2186), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "((2186, 2562), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d702c22078e8fd30a851b033aed9b845f6cd57b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json
@@ -0,0 +1,14 @@
+{
+    "((1078, 1383), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1383, 4054), (1684, 3654))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3898, 5107))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A005++seq__e53a4037a875f96a13c6__2023-04-20-10-57-00.json b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__e53a4037a875f96a13c6__2023-04-20-10-57-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e818a381c442a7c287443abd95a4f9c15e8ca3
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A005++seq__e53a4037a875f96a13c6__2023-04-20-10-57-00.json
@@ -0,0 +1,14 @@
+{
+    "(None, (894, 1375))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1631, 2636), (1631, 2636))": {
+        "seg_desc": "Rearrange the tripod and the asbestos mesh from one position to another position.",
+        "seg_desc_zh": "将三脚架和石棉网从一个位置移动到另一个位置。"
+    },
+    "(None, (2968, 3689))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1799562eae7c1a4e744d8ff52de51da0e7d02b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json
@@ -0,0 +1,34 @@
+{
+    "((741, 1081), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1081, 1544), (1081, 1506))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1544, 2250), (1582, 2182))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2254, 2490), None)": {
+        "seg_desc": "Hold the alcohol burner to the position.",
+        "seg_desc_zh": "用手抓握酒精灯并保持位置。"
+    },
+    "((3055, 3159), (2318, 3159))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管取下试管架"
+    },
+    "((3611, 3875), (3159, 3875))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (3875, 4672))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "(None, (4776, 5016))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b004f50914296f3b00e080f70ed114f9656d318
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json
@@ -0,0 +1,26 @@
+{
+    "((749, 1237), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1449, 2081))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((3883, 4427), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((4643, 4811), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((4811, 5868), None)": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((5868, 6292), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee4a58d6521e0a807ca388eaf491236112fe82c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json
@@ -0,0 +1,14 @@
+{
+    "(None, (871, 1292))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1520, 2276))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "(None, (2617, 4294))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edd94c05260a4189b2052d6fa4128180e9d8fc2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json
@@ -0,0 +1,74 @@
+{
+    "((1200, 2830), (816, 2882))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((2830, 5488), (3070, 5464))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the beaker.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个烧杯。"
+    },
+    "((5488, 6593), (5588, 6593))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    },
+    "((6593, 6781), (6677, 6997))": {
+        "seg_desc": "Rearrange the large white narrow-mouth bottle from one position to another position.",
+        "seg_desc_zh": "将大的白色窄口瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (7145, 7578))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((7225, 7530), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "(None, (7578, 7822))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((7606, 7890), None)": {
+        "seg_desc": "Hold the alcohol burner to the position.",
+        "seg_desc_zh": "用手抓握酒精灯并保持位置。"
+    },
+    "((7890, 8270), (7938, 8206))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (8310, 9119))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((9191, 9515), None)": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    },
+    "((9759, 9919), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((9919, 11292), None)": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((11292, 11617), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((12213, 12461), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((12625, 13162), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((14218, 14587), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((14587, 15840), (14707, 15800))": {
+        "seg_desc": "Pour the experiment substance B from the beaker to the conical flask.",
+        "seg_desc_zh": "将实验物质B从一个烧杯倒入另一个锥形瓶。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad5d6f29ca6bcd7db813c664dfa6b4a509b856a2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36.json
@@ -0,0 +1,26 @@
+{
+    "(None, (620, 1197))": {
+        "seg_desc": "Shake experiment substances in the beaker.",
+        "seg_desc_zh": "在烧杯中摇晃实验物质。"
+    },
+    "((1477, 1725), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1725, 3240), (1201, 3300))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3240, 4033), (3408, 4033))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4033, 4669))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (4669, 5518))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b41bf2664632590adaa6bbe6021316cc7830de2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json
@@ -0,0 +1,90 @@
+{
+    "((752, 1254), None)": {
+        "seg_desc": "Rearrange the large white narrow-mouth bottle from one position to another position.",
+        "seg_desc_zh": "将大的白色窄口瓶从一个位置移动到另一个位置。"
+    },
+    "(None, (1013, 1294))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1366, 2787), (1294, 2743))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((2787, 4616), (2835, 4608))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the beaker.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个烧杯。"
+    },
+    "((4616, 6073), (4696, 6069))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    },
+    "((6073, 6457), None)": {
+        "seg_desc": "Rearrange the large white narrow-mouth bottle from one position to another position.",
+        "seg_desc_zh": "将大的白色窄口瓶从一个位置移动到另一个位置。"
+    },
+    "((6681, 6890), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((6890, 8571), (6577, 8435))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "(None, (8535, 9115))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((8663, 8879), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((9035, 9435), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (9676, 10740))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((10784, 10949), None)": {
+        "seg_desc": "Rearrange the test tube holder from one position to another position.",
+        "seg_desc_zh": "将试管夹从一个位置移动到另一个位置。"
+    },
+    "((11081, 11205), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((11205, 11693), (10921, 11713))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (11713, 12578))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "(None, (12578, 13158))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "((13090, 13274), None)": {
+        "seg_desc": "Rearrange the test tube holder from one position to another position.",
+        "seg_desc_zh": "将试管夹从一个位置移动到另一个位置。"
+    },
+    "((13406, 13875), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((14791, 14899), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((14899, 16717), (15816, 17093))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the conical flask.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个锥形瓶。"
+    },
+    "((16717, 16921), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__233b93f6f9e224aca442__2023-04-20-16-27-10.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__233b93f6f9e224aca442__2023-04-20-16-27-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..421092fa4e57b7c0bc657d7b8d3516478314f69c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__233b93f6f9e224aca442__2023-04-20-16-27-10.json
@@ -0,0 +1,26 @@
+{
+    "((695, 884), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((884, 1764), None)": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((1764, 2045), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((2301, 2709), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "(None, (2917, 3245))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((3454, 3982), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__28f0e685273ac07a26d8__2023-04-20-14-40-03.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__28f0e685273ac07a26d8__2023-04-20-14-40-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c967e3b605cc8da62efa2a48b0264eff85bb347
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__28f0e685273ac07a26d8__2023-04-20-14-40-03.json
@@ -0,0 +1,18 @@
+{
+    "((1342, 1486), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1486, 2226), (897, 2226))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (2226, 3043))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (3043, 4284))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..62982bc622ad91d5bf48e08cc0d62c3c3bcf8352
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json
@@ -0,0 +1,6 @@
+{
+    "((798, 1431), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a7294dd959dc4d947ea972bb791899e185e91f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json
@@ -0,0 +1,130 @@
+{
+    "((753, 961), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((961, 1341), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((1927, 3268), (1653, 3195))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((3491, 3803), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3803, 6646), (3803, 6646))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个试管。"
+    },
+    "(None, (6745, 8190))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    },
+    "((6646, 8222), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((8226, 8610), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((8831, 9091), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((9128, 9395), (9187, 9423))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((9567, 10015), None)": {
+        "seg_desc": "Hold the ignitor to the position.",
+        "seg_desc_zh": "用手抓握点火器并保持位置。"
+    },
+    "(None, (9795, 10501))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((10392, 10744), None)": {
+        "seg_desc": "Rearrange the ignitor from one position to another position.",
+        "seg_desc_zh": "将点火器从一个位置移动到另一个位置。"
+    },
+    "((10896, 11602), None)": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管取下试管架"
+    },
+    "((11602, 12801), None)": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "((12801, 13442), None)": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "((13966, 14226), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((14635, 16064), (14366, 15985))": {
+        "seg_desc": "Unscrew the cap of the green and yellow striped bottle.",
+        "seg_desc_zh": "拧开黄绿条纹瓶的盖子。"
+    },
+    "((16205, 16948), (16040, 16948))": {
+        "seg_desc": "Pour the experiment substance B from the green and yellow striped bottle to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个黄绿条纹瓶倒入另一个烧杯。"
+    },
+    "((17136, 17849), (17104, 18073))": {
+        "seg_desc": "Screw the cap onto the green and yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄绿条纹瓶的盖子。"
+    },
+    "((18449, 18579), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((18579, 19098), None)": {
+        "seg_desc": "Pour the experiment substance A from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质A从一个试管倒入另一个烧杯。"
+    },
+    "((19098, 19470), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (19730, 19830))": {
+        "seg_desc": "Rearrange alcohol burner cap from one position to another position.",
+        "seg_desc_zh": "将酒精灯帽从一个位置移动到另一个位置。"
+    },
+    "((20327, 20591), (19940, 20619))": {
+        "seg_desc": "Rearrange the alcohol burner and the tripod from one position to another position.",
+        "seg_desc_zh": "将酒精灯和三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (20787, 21103))": {
+        "seg_desc": "Heat the experiment substance C in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质C。"
+    },
+    "((21307, 21448), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((21448, 22826), None)": {
+        "seg_desc": "Stir the experiment substance C in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质C。"
+    },
+    "((22826, 23109), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((23465, 23813), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (23965, 24486))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (24698, 25035))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..46db7199910c3ab46efbefd3b39dfb132464b350
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json
@@ -0,0 +1,26 @@
+{
+    "((1240, 1504), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1504, 3313), (879, 3293))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3313, 4106), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "((4106, 4834), (4106, 4918))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (4918, 5755))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (5755, 6680))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..6496a134589b3797dccb6be6939d70712fe96cb1
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
@@ -0,0 +1,26 @@
+{
+    "((697, 1183), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((1380, 1660), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1776, 2036), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2172, 2953))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((3213, 3601), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((3833, 4258), None)": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11a7e96011a1a8b8324fe28e4dd27789548872f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json
@@ -0,0 +1,22 @@
+{
+    "((839, 1115), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1115, 1765), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "(None, (1399, 1691))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((1765, 3505), (1807, 3316))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3465, 3921))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d8d1600eb2a3f4e5d3b194c1ef57442548e2086
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json
@@ -0,0 +1,74 @@
+{
+    "((980, 2666), (700, 2630))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((2666, 4131), (2770, 4119))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the beaker.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个烧杯。"
+    },
+    "((4131, 5853), (4187, 5516))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    },
+    "((6141, 6289), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((6289, 7798), (6441, 7786))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "((7798, 8046), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((8242, 8495), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (8591, 9399))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((9531, 9707), None)": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((9892, 10024), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((10024, 10460), (9651, 10488))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (10488, 11797))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "(None, (11797, 12385))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "((12357, 12526), None)": {
+        "seg_desc": "Rearrange the test tube holder from one position to another position.",
+        "seg_desc_zh": "将试管夹从一个位置移动到另一个位置。"
+    },
+    "((12626, 13106), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((14035, 14259), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((14259, 15152), (14407, 15208))": {
+        "seg_desc": "Pour the experiment substance B from the test tube to the conical flask.",
+        "seg_desc_zh": "将实验物质B从一个试管倒入另一个锥形瓶。"
+    },
+    "((15152, 15444), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13ac6fc65ff66d4fbb5adc87136ec9680afbdd0
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json
@@ -0,0 +1,98 @@
+{
+    "((711, 927), None)": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((1464, 2764), (1115, 2813))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((2909, 5210), (2857, 5210))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the conical flask.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个锥形瓶。"
+    },
+    "((5390, 6087), (5294, 6079))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    },
+    "(None, (6079, 6295))": {
+        "seg_desc": "Rearrange cap from one position to another position.",
+        "seg_desc_zh": "将瓶盖从一个位置移动到另一个位置。"
+    },
+    "((6327, 7180), None)": {
+        "seg_desc": "Shake the experiment substance A in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质A。"
+    },
+    "(None, (7344, 7556))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (7715, 8016))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((8224, 8745), (8565, 8769))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((8885, 9073), None)": {
+        "seg_desc": "Hold the ignitor to the position.",
+        "seg_desc_zh": "用手抓握点火器并保持位置。"
+    },
+    "(None, (9017, 9585))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((9541, 9794), None)": {
+        "seg_desc": "Rearrange the ignitor from one position to another position.",
+        "seg_desc_zh": "将点火器从一个位置移动到另一个位置。"
+    },
+    "((9914, 10294), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((10446, 10770), None)": {
+        "seg_desc": "Heat the mixed experiment substance A in the conical flask with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在锥形瓶中加热混合后的实验物质A。"
+    },
+    "((11915, 12227), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (12387, 12880))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (12920, 13000))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((13957, 15534), (14465, 15590))": {
+        "seg_desc": "Pour the heated experiment substance A from the conical flask to the beaker.",
+        "seg_desc_zh": "将加热后的实验物质A从一个锥形瓶倒入另一个烧杯。"
+    },
+    "((15834, 17019), (15786, 17015))": {
+        "seg_desc": "Unscrew the cap of the green and yellow striped bottle.",
+        "seg_desc_zh": "拧开黄绿条纹瓶的盖子。"
+    },
+    "((17159, 17983), (17083, 17983))": {
+        "seg_desc": "Pour the experiment substance B from the green and yellow striped bottle to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个黄绿条纹瓶倒入另一个烧杯。"
+    },
+    "((18180, 19128), (18071, 19336))": {
+        "seg_desc": "Screw the cap onto the green and yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄绿条纹瓶的盖子。"
+    },
+    "((19637, 20009), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((20153, 21354), (19973, 21382))": {
+        "seg_desc": "Stir the mixture of experiment substance C and experiment substance D in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质C与实验物质D的混合物。"
+    },
+    "(None, (21382, 21630))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee54718e64af1f407450e7207545809cfe27687
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json
@@ -0,0 +1,22 @@
+{
+    "((929, 1495), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1495, 2152), (1495, 2152))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (2512, 2968))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (2968, 4250))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "(None, (4503, 5191))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__41d8394b4defeec0ad76__2023-04-20-16-41-15.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__41d8394b4defeec0ad76__2023-04-20-16-41-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ad647987b9c33f40cb1316238be0d00b1a0d71
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__41d8394b4defeec0ad76__2023-04-20-16-41-15.json
@@ -0,0 +1,42 @@
+{
+    "(None, (728, 1044))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1156, 1712))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((2557, 2865), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (4210, 4963))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((4742, 4907), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((4907, 5743), (5139, 6180))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((5743, 6155), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((6328, 6552), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((6552, 8037), (6184, 8037))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((8037, 8369), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b2ed57727f3c7f2cf980f71e44380f32e91047e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json
@@ -0,0 +1,22 @@
+{
+    "((664, 864), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((864, 2530), (1132, 2530))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((2530, 2970), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((3174, 3868), (3218, 3810))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((3868, 4631), (3927, 4567))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f1a2c17f99e0c82c56a3506104f826f38c505
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35.json
@@ -0,0 +1,22 @@
+{
+    "((974, 1334), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1515, 2111), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((4609, 4889), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((4889, 7239), (4048, 7239))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((7239, 7643), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__606948d0c32e5f88cab5__2023-04-20-15-20-17.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__606948d0c32e5f88cab5__2023-04-20-15-20-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..17267920e2d83768620ab43eef0ec7efa31df561
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__606948d0c32e5f88cab5__2023-04-20-15-20-17.json
@@ -0,0 +1,14 @@
+{
+    "((791, 1132), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1276, 1928), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (3669, 4922))": {
+        "seg_desc": "Shake experiment substances in the conical flask.",
+        "seg_desc_zh": "在锥形瓶中摇晃实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__639d4665846c3affb1cc__2023-04-20-16-44-08.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__639d4665846c3affb1cc__2023-04-20-16-44-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..b10cea61920f85f686bae095f16324a5bfff5b83
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__639d4665846c3affb1cc__2023-04-20-16-44-08.json
@@ -0,0 +1,30 @@
+{
+    "(None, (651, 1020))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1208, 1696))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((2329, 2921), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2793, 3397))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((5343, 5491), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((5491, 7084), (4955, 7084))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((7084, 7460), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__71249a288dcbc7de02a5__2023-04-19-11-24-41.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__71249a288dcbc7de02a5__2023-04-19-11-24-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf383e48127d562ebc3c98c128915dd3602ca30
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__71249a288dcbc7de02a5__2023-04-19-11-24-41.json
@@ -0,0 +1,26 @@
+{
+    "(None, (761, 1401))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1157, 1401), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1401, 2034), (1401, 2034))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "((2034, 2834), (2034, 2834))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "((2834, 3146), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (2834, 3531))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..7abbd9586ec9cbb5db831609d19d72191c166d56
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json
@@ -0,0 +1,18 @@
+{
+    "((812, 1321), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1725, 2141))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((2750, 3146), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((3354, 4199), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdc5caa9f76c4edfb2ec005fd403668a5ab9355c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json
@@ -0,0 +1,18 @@
+{
+    "((690, 938), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((938, 2603), (1198, 2427))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (2555, 3023))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (3023, 3356))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e2c140170754f07b6f94a6bb476898aedc35c7
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json
@@ -0,0 +1,30 @@
+{
+    "((687, 987), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1268, 2185))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2726, 3006), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3006, 3722), (2365, 3722))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3722, 4543))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "(None, (4543, 5484))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "((5708, 6256), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..818cce1edde6da9a94d16446d0ef0d6300dc0ea9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json
@@ -0,0 +1,22 @@
+{
+    "((713, 877), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((877, 1522), (1025, 1522))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1522, 2026))": {
+        "seg_desc": "Shake experiment substances in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质。"
+    },
+    "(None, (2026, 2454))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((2863, 3191), (2454, 3643))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..7368f7ee1b14d9e32ba22aeaf311938b1ce1838e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json
@@ -0,0 +1,14 @@
+{
+    "((793, 1306), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1306, 2783), (1306, 2783))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((2783, 3175), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..d92002a49ef712694f34e2c6ecb35378a6df76b5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json
@@ -0,0 +1,46 @@
+{
+    "((723, 879), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((879, 1483), (999, 1483))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1483, 2028))": {
+        "seg_desc": "Shake the experiment substance A in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质A。"
+    },
+    "(None, (2028, 2800))": {
+        "seg_desc": "Heat the experiment substance A in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质A"
+    },
+    "((2944, 3249), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (2800, 3249))": {
+        "seg_desc": "Hold the test tube holder to the position.",
+        "seg_desc_zh": "用手抓握试管夹并保持位置。"
+    },
+    "((3249, 4778), (3249, 4778))": {
+        "seg_desc": "Pour the experiment substance A from the test tube holder to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个试管夹倒入另一个试管。"
+    },
+    "(None, (4778, 5590))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "((4778, 5286), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((5286, 6159), None)": {
+        "seg_desc": "Pour the mixture of heated experiment substance A and experiment substance B from the test tube to the beaker.",
+        "seg_desc_zh": "将加热后的实验物质A与实验物质B的混合物从一个试管倒入另一个烧杯。"
+    },
+    "((6159, 6595), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e6d802ee3480f3e6fcf6a3a0c7320621b6e434
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json
@@ -0,0 +1,22 @@
+{
+    "((827, 1075), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1075, 1863), (1075, 1527))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1935, 2516), (1723, 2516))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2516, 2792), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3004, 3400))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..eefe3b19fba480a92c51ef655cf033760774d7de
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json
@@ -0,0 +1,38 @@
+{
+    "((731, 991), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((991, 1435), (991, 1944))": {
+        "seg_desc": "Pour experiment substances from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个烧杯。"
+    },
+    "((1435, 1691), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (2076, 2212))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "(None, (2212, 3008))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (3008, 3253))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((3581, 3701), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3701, 5510), (3417, 5886))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((5510, 5722), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e789a8503fce5b0cf31a6912e4d3e040d93f110
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json
@@ -0,0 +1,14 @@
+{
+    "(None, (784, 912))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((672, 1941), (912, 1577))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (1577, 1873))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..0939deed7db090279e78c821dff46189ab7a1f13
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json
@@ -0,0 +1,14 @@
+{
+    "(None, (775, 959))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (959, 1347))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (1347, 1748))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b0f8f9560d5c7290108b8f6ca3f2c11e33752d5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
@@ -0,0 +1,30 @@
+{
+    "((705, 949), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1085, 1325), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1489, 2210))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2326, 2742), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2934, 3202))": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    },
+    "((5060, 5420), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((5532, 6145), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5f3d6dd70f0bac7d84423baf2782b9232bcb86
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json
@@ -0,0 +1,30 @@
+{
+    "(None, (694, 1407))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((1195, 1407), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1407, 2388), (1407, 2388))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((2388, 3012), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (2388, 3012))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((3012, 3753), (3012, 3692))": {
+        "seg_desc": "Pour experiment substances from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个烧杯。"
+    },
+    "((3753, 4025), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf93422139560cc4e36f4e566c398aba4da761a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json
@@ -0,0 +1,6 @@
+{
+    "((742, 1278), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce13f7ca98053466c00dd1ad43d245a65a16a82
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json
@@ -0,0 +1,26 @@
+{
+    "((820, 1232), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1232, 1852), (1232, 1852))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((3506, 3697), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3697, 4855), (3045, 4811))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((4855, 5499), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "((5499, 5883), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d05a4eb3ea1017b7d4831c326c7a4f5463602c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json
@@ -0,0 +1,34 @@
+{
+    "((666, 882), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (854, 1370))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "((1514, 1730), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1730, 2535), (1374, 2535))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "(None, (2535, 2887))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "((2535, 2887), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((2887, 3540), None)": {
+        "seg_desc": "Pour experiment substances from the test tube to the beaker.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个烧杯。"
+    },
+    "((3540, 3904), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f628b3e2b7ab5c95cb6857ab3ff2f4759939e6
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json
@@ -0,0 +1,18 @@
+{
+    "(None, (844, 1901))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管取下试管架"
+    },
+    "(None, (1901, 2745))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (2745, 3758))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "(None, (4058, 4703))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e94388c3a59525427076efb0c6868d099d07ae
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json
@@ -0,0 +1,14 @@
+{
+    "((697, 1149), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((1459, 2111), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((2331, 2763), None)": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..7188812ccbcd167412d5f4f381df34820a0e3ce9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json
@@ -0,0 +1,26 @@
+{
+    "(None, (715, 867))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "(None, (867, 1588))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (1588, 1928))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((2212, 2404), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2404, 3890), (2553, 3753))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "(None, (3854, 4242))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d648eb68686c16ce8436568270ddf9d0c4af10
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json
@@ -0,0 +1,30 @@
+{
+    "((693, 892), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((892, 2806), (1084, 2806))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((2806, 2950), None)": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((2950, 3626), (2950, 3626))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3626, 4334))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "((4334, 4647), (4334, 4647))": {
+        "seg_desc": "Remove the test tube from the holder",
+        "seg_desc_zh": "从试管夹上取下试管"
+    },
+    "((4647, 5080), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9065c4202b59c545d61377768d1d9c4a2d7f07
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json
@@ -0,0 +1,34 @@
+{
+    "(None, (617, 1073))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1293, 1709))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((2562, 3070), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2994, 3539))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (5028, 5924))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((5604, 5704), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((5704, 6789), None)": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((6789, 7089), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..100ab4b537d12b39cc10b01218f97e63ce657980
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json
@@ -0,0 +1,38 @@
+{
+    "(None, (820, 1032))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (1032, 1584))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((1312, 1584), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1584, 2149), (1584, 2149))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "((2149, 2793), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (2153, 2793))": {
+        "seg_desc": "Hold the test tube to the position.",
+        "seg_desc_zh": "用手抓握试管并保持位置。"
+    },
+    "((2793, 3430), (2793, 3430))": {
+        "seg_desc": "Pour experiment substances from the test tube to another test tube.",
+        "seg_desc_zh": "将实验物质从一个试管倒入另一个另一个试管。"
+    },
+    "((3430, 3906), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    },
+    "(None, (3430, 4266))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f000a30be46a14b1087f7f9e1b78d1dec7a029
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
@@ -0,0 +1,66 @@
+{
+    "((1199, 2797), (791, 2776))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((2797, 5450), (3004, 5450))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the beaker.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个烧杯。"
+    },
+    "(None, (5450, 6279))": {
+        "seg_desc": "Hold the beaker to the position.",
+        "seg_desc_zh": "用手抓握烧杯并保持位置。"
+    },
+    "((5618, 5910), None)": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((6039, 6375), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (6443, 7359))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((7480, 7796), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (7480, 8172))": {
+        "seg_desc": "Heat the experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质A。"
+    },
+    "((8376, 8468), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((8468, 10574), None)": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((10574, 10910), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((11486, 11799), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((11931, 12415), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (13504, 14040))": {
+        "seg_desc": "Rearrange the conical flask from one position to another position.",
+        "seg_desc_zh": "将锥形瓶从一个位置移动到另一个位置。"
+    },
+    "((14104, 15285), (14164, 15081))": {
+        "seg_desc": "Pour the experiment substance B from the beaker to the conical flask.",
+        "seg_desc_zh": "将实验物质B从一个烧杯倒入另一个锥形瓶。"
+    },
+    "((16199, 17212), (16484, 17196))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..1582edcfdd986d071b2e848299270c634ea28473
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json
@@ -0,0 +1,10 @@
+{
+    "((663, 943), (659, 899))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((943, 1744), (987, 1695))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5d0de606bf6caf039c0df284efc3db122f9c58
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json
@@ -0,0 +1,14 @@
+{
+    "(None, (746, 858))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((1067, 1743), (858, 1499))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (1499, 1675))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..993af25d7fdcff61de328daff2a8e3ea17967249
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json
@@ -0,0 +1,34 @@
+{
+    "((757, 1133), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1229, 1670), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1642, 2454))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2654, 3031), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3415, 3783))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    },
+    "((4251, 4335), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((4335, 5416), None)": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((5416, 5797), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..755c10fd9f2b4e2cb550b61ecc617b7cf4542064
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json
@@ -0,0 +1,26 @@
+{
+    "((748, 1052), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1052, 1548), (1052, 1460))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((1548, 2457), (1636, 2357))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2457, 2841), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (2557, 2865))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (3061, 3474))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c082ec0b269816576aee6b8d53584605144eb4c
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
@@ -0,0 +1,22 @@
+{
+    "(None, (900, 2589))": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((2993, 3273), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((3273, 5071), (3570, 5051))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "((5071, 5715), None)": {
+        "seg_desc": "Shake the experiment substance A in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质A。"
+    },
+    "((5715, 6155), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfdbe4ad2c5620d5d63da73274d7487f7411ff62
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
@@ -0,0 +1,62 @@
+{
+    "((989, 2570), (645, 2534))": {
+        "seg_desc": "Unscrew the cap of the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧开大的白色窄口瓶的盖子。"
+    },
+    "((2786, 3863), (2678, 3871))": {
+        "seg_desc": "Pour the experiment substance A from the large white narrow-mouth bottle to the beaker.",
+        "seg_desc_zh": "将实验物质A从一个大的白色窄口瓶倒入另一个烧杯。"
+    },
+    "((4167, 5564), (3995, 5276))": {
+        "seg_desc": "Screw the cap onto the large white narrow-mouth bottle.",
+        "seg_desc_zh": "拧紧大的白色窄口瓶的盖子。"
+    },
+    "((5688, 7473), (6044, 7413))": {
+        "seg_desc": "Unscrew the cap of the green and yellow striped bottle.",
+        "seg_desc_zh": "拧开黄绿条纹瓶的盖子。"
+    },
+    "((7630, 8598), (7590, 8602))": {
+        "seg_desc": "Pour the experiment substance B from the green and yellow striped bottle to the beaker.",
+        "seg_desc_zh": "将实验物质B从一个黄绿条纹瓶倒入另一个烧杯。"
+    },
+    "((8935, 9643), (8742, 9863))": {
+        "seg_desc": "Screw the cap onto the green and yellow striped bottle.",
+        "seg_desc_zh": "拧紧黄绿条纹瓶的盖子。"
+    },
+    "((10223, 10616), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((10732, 11492), (10580, 11568))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((11684, 12489), (11568, 12489))": {
+        "seg_desc": "Pour the experiment substance C from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质C从一个锥形瓶倒入另一个烧杯。"
+    },
+    "((12493, 13390), (12493, 13390))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((13394, 14102), (13394, 14102))": {
+        "seg_desc": "Pour the experiment substance C from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质C从一个锥形瓶倒入另一个烧杯。"
+    },
+    "((14102, 14895), (14102, 14895))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "((14895, 15559), (14895, 15483))": {
+        "seg_desc": "Pour the experiment substance C from the conical flask to the beaker.",
+        "seg_desc_zh": "将实验物质C从一个锥形瓶倒入另一个烧杯。"
+    },
+    "((15771, 16240), (15483, 16344))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (16344, 16608))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6db2f350383249c1c6333e62e151399f0033a41
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
@@ -0,0 +1,34 @@
+{
+    "((858, 1871), (1198, 1871))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (2831, 3148))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "((3344, 3532), None)": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((3532, 4485), None)": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "((4485, 4829), None)": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((5033, 5365), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((5365, 6634), (5365, 6634))": {
+        "seg_desc": "Pour the experiment substance A from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质A从一个烧杯倒入另一个试管。"
+    },
+    "((6634, 7026), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..62367843a685411de9e286d1b68528e362a94063
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json
@@ -0,0 +1,34 @@
+{
+    "((1082, 1290), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1290, 1758), (649, 1758))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1758, 2443))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (2443, 3211))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    },
+    "(None, (3355, 3904))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "((5325, 5557), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((5557, 6221), None)": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "((6221, 6594), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4ba04933caefb62f0a735c9bf4e263ee3d611f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json
@@ -0,0 +1,6 @@
+{
+    "((671, 1424), (647, 1400))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..01349fc371efed4d23bfbe3163237a7c492db0e9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43.json
@@ -0,0 +1,30 @@
+{
+    "((724, 1008), None)": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (1256, 2106))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2471, 2859), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((2859, 3447), (2859, 3447))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (3447, 4104))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (4104, 4856))": {
+        "seg_desc": "Shake experiment substances in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质。"
+    },
+    "(None, (4856, 5869))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..19ecd0e53acaf98ada9c568c846e3ae29340370f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
@@ -0,0 +1,10 @@
+{
+    "(None, (762, 1683))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((2187, 2983), None)": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__fac912c78b870666a08a__2023-04-19-11-35-35.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__fac912c78b870666a08a__2023-04-19-11-35-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..850eb0b6935327fd287dca06b7a2967a0048a2d9
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__fac912c78b870666a08a__2023-04-19-11-35-35.json
@@ -0,0 +1,34 @@
+{
+    "(None, (791, 927))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "((627, 1556), (927, 1656))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (1656, 1984))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "((2268, 2561), (2232, 2569))": {
+        "seg_desc": "Rearrange the tripod from one position to another position.",
+        "seg_desc_zh": "将三脚架从一个位置移动到另一个位置。"
+    },
+    "(None, (2685, 3213))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((2981, 3537), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (3297, 3437))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (3517, 3910))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cb1f566e0888f24242ae1f8fd527a4701001792
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json
@@ -0,0 +1,26 @@
+{
+    "(None, (750, 1186))": {
+        "seg_desc": "Rearrange the test tube holder from one position to another position.",
+        "seg_desc_zh": "将试管夹从一个位置移动到另一个位置。"
+    },
+    "((1030, 1186), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1186, 1602), (1186, 1602))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (1602, 2163))": {
+        "seg_desc": "Shake experiment substances in the test tube held by the test tube holder.",
+        "seg_desc_zh": "在试管夹夹住的试管中摇晃实验物质。"
+    },
+    "(None, (2163, 2719))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (2719, 3548))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d7e8acd87c4a708277e82c2498437ea46cdd39
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json
@@ -0,0 +1,6 @@
+{
+    "(None, (449, 942))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca60a232daa4e64290bf1ba2e95141f549bcda2
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json
@@ -0,0 +1,14 @@
+{
+    "((565, 758), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((758, 2931), (1026, 2775))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((2931, 3483), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb3673ff352d649ef3a2af1969aac05175f7ba28
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json
@@ -0,0 +1,14 @@
+{
+    "(None, (527, 1012))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((1136, 2060), (1136, 2012))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "(None, (2164, 3041))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52457b94582006c16f0e5ff95fd0495f07ec0fa
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json
@@ -0,0 +1,10 @@
+{
+    "(None, (628, 1593))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (1841, 2353))": {
+        "seg_desc": "Heat experiment substances in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热实验物质。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0a74ef8526876a02b4b6a1f5d27a7d0c3aed12
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
@@ -0,0 +1,54 @@
+{
+    "((1138, 1953), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (2513, 2673))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "(None, (2673, 4478))": {
+        "seg_desc": "Stir the experiment substance A in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质A。"
+    },
+    "(None, (4478, 5663))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    },
+    "(None, (6248, 7204))": {
+        "seg_desc": "Place asbestos mesh onto the tripod.",
+        "seg_desc_zh": "堆叠加热用的石棉网"
+    },
+    "((8974, 9506), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((9506, 10627), (9882, 10627))": {
+        "seg_desc": "Uncap the alcohol burner.",
+        "seg_desc_zh": "移除酒精灯灯帽"
+    },
+    "((10627, 11760), None)": {
+        "seg_desc": "Heat the mixed experiment substance A in the beaker with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在烧杯中加热混合后的实验物质A。"
+    },
+    "(None, (12204, 13749))": {
+        "seg_desc": "Ignite the alcohol burner with the ignitor.",
+        "seg_desc_zh": "点燃酒精灯"
+    },
+    "((14714, 15642), None)": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "(None, (15814, 16871))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    },
+    "(None, (16991, 17444))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((17792, 18644), None)": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba5f21c42880e60a8e6f05008b187e31e12d29e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json
@@ -0,0 +1,6 @@
+{
+    "(None, (493, 1510))": {
+        "seg_desc": "Put off the alcohol burner with its cap.",
+        "seg_desc_zh": "使用灯帽熄灭酒精灯"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cc2915b411ef344069cbc1303fb49e8a781a10
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json
@@ -0,0 +1,14 @@
+{
+    "((674, 950), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((950, 3724), (1266, 3536))": {
+        "seg_desc": "Pour experiment substances from the beaker to the test tube.",
+        "seg_desc_zh": "将实验物质从一个烧杯倒入另一个试管。"
+    },
+    "((3724, 4292), None)": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..82334aa2999a61b2ce8d992018cf0790d2daa7a5
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json
@@ -0,0 +1,18 @@
+{
+    "(None, (528, 1028))": {
+        "seg_desc": "Rearrange the beaker from one position to another position.",
+        "seg_desc_zh": "将烧杯从一个位置移动到另一个位置。"
+    },
+    "(None, (1288, 1493))": {
+        "seg_desc": "Remove the glass rod from the rack.",
+        "seg_desc_zh": "从试管架上取下玻璃棒。"
+    },
+    "(None, (1493, 2341))": {
+        "seg_desc": "Stir experiment substances in the beaker with the glass rod.",
+        "seg_desc_zh": "在烧杯中用玻璃棒搅拌实验物质。"
+    },
+    "(None, (2341, 2749))": {
+        "seg_desc": "Place the glass rod on the rack.",
+        "seg_desc_zh": "将玻璃棒放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..b552b4e93bacbccbd21b5ce62a60af1443a851bc
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json
@@ -0,0 +1,22 @@
+{
+    "(None, (463, 859))": {
+        "seg_desc": "Rearrange the alcohol burner from one position to another position.",
+        "seg_desc_zh": "将酒精灯从一个位置移动到另一个位置。"
+    },
+    "((999, 1339), None)": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "((1339, 2160), (1339, 2160))": {
+        "seg_desc": "Use the holder to hold the test tube.",
+        "seg_desc_zh": "用试管夹夹住试管"
+    },
+    "(None, (2160, 2708))": {
+        "seg_desc": "Heat experiment substances in the test tube with alcohol lamp.",
+        "seg_desc_zh": "使用酒精灯在试管中加热实验物质"
+    },
+    "(None, (2708, 4049))": {
+        "seg_desc": "Use the holder to place the test tube on the rack.",
+        "seg_desc_zh": "用试管夹将试管放置在试管架上"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ea0d297d9b7d3eadc11a1c4b6420ca1fffac772
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json
@@ -0,0 +1,14 @@
+{
+    "(None, (663, 883))": {
+        "seg_desc": "Remove the test tube from the rack.",
+        "seg_desc_zh": "从试管架上取下试管。"
+    },
+    "(None, (883, 1491))": {
+        "seg_desc": "Shake experiment substances in the test tube.",
+        "seg_desc_zh": "在试管中摇晃实验物质。"
+    },
+    "(None, (1491, 1960))": {
+        "seg_desc": "Place the test tube on the rack.",
+        "seg_desc_zh": "将试管放置在试管架上。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json b/raw/oakinkv2/program/desc_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcecbd1b0a7e2ae912b0d51d062f921358d855f4
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
@@ -0,0 +1,18 @@
+{
+    "((1007, 1877), (1347, 1877))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1877, 2677), (2021, 2677))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "(None, (2677, 3210))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    },
+    "((2677, 4407), (3614, 4022))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json b/raw/oakinkv2/program/desc_info/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c55f20b3737a5487f0ae33614e45da9fe7feb56
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json
@@ -0,0 +1,14 @@
+{
+    "((1195, 2324), (1799, 2324))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((2324, 4073), (2668, 3905))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((4073, 5490), (4073, 5070))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json b/raw/oakinkv2/program/desc_info/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..f979cba29548c9671986aae686d3dd6f1e4b022e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1186, 1755))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb955f1cded97d2929c48ace476effbe3760371e
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
@@ -0,0 +1,6 @@
+{
+    "(None, (848, 1465))": {
+        "seg_desc": "Place the toothbrush inside the orange mug.",
+        "seg_desc_zh": "将牙刷放入橙色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..721476c117580e26ad77490406170fadc7c9cc1a
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json
@@ -0,0 +1,6 @@
+{
+    "(None, (1053, 1489))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..411ae3034f6b3b1fc4fbaaf868cd90c5ffbccc03
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
@@ -0,0 +1,22 @@
+{
+    "((1201, 1761), (837, 2021))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1841, 1949), None)": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    },
+    "((2021, 2986), (2021, 2986))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((2986, 3346), None)": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    },
+    "((3490, 3707), (2986, 3959))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..564aeded6833175471d79c5873dcb87fda7901ad
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json
@@ -0,0 +1,14 @@
+{
+    "((1223, 1555), (815, 1555))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1691, 2880), (1555, 3008))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((3008, 3324), (3008, 3545))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6d63fcecce765a452ecff0809ce6f64ccb0347
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
@@ -0,0 +1,26 @@
+{
+    "((803, 1244), None)": {
+        "seg_desc": "Rearrange the toothpaste from one position to another position.",
+        "seg_desc_zh": "将牙膏从一个位置移动到另一个位置。"
+    },
+    "(None, (1520, 1905))": {
+        "seg_desc": "Rearrange the orange mug from one position to another position.",
+        "seg_desc_zh": "将橙色马克杯从一个位置移动到另一个位置。"
+    },
+    "((2053, 2746), (2229, 2746))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((2746, 3498), (2938, 3498))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "(None, (3498, 3770))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    },
+    "((3498, 4435), (3919, 4207))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..f30e0288388994f5e19db76fde81c34160035a6b
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json
@@ -0,0 +1,14 @@
+{
+    "((853, 1722), (1213, 1722))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1722, 2943), (1950, 2854))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((2943, 3759), (2943, 3371))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..69abff7108592011e56d4a4f7497e2161f00d493
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
@@ -0,0 +1,6 @@
+{
+    "(None, (546, 1255))": {
+        "seg_desc": "Place the toothbrush inside the orange mug.",
+        "seg_desc_zh": "将牙刷放入橙色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd35fe882b7bc70443b4098880e068acef6ad513
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json
@@ -0,0 +1,6 @@
+{
+    "(None, (946, 1571))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..be32f7b30c2642e2372ab3d54391350caa032499
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json
@@ -0,0 +1,14 @@
+{
+    "((704, 1481), (1236, 1481))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1481, 2653), (1625, 2533))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((2653, 3210), (2653, 2797))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e80a1e3dddafe7b714214f214959ef948dd49f
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json
@@ -0,0 +1,6 @@
+{
+    "((802, 2007), (1470, 1995))": {
+        "seg_desc": "Rearrange the orange mug and the toothbrush from one position to another position.",
+        "seg_desc_zh": "将橙色马克杯和牙刷从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..731d8ccee70bd441f92f4a5834a7b6095cbfeeef
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json
@@ -0,0 +1,14 @@
+{
+    "((717, 1394), (757, 1394))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1394, 2475), (1550, 2351))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((2475, 3111), (2475, 3099))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..dffa3a13dc03d03f8a875a37bc6eeace40ed3306
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
@@ -0,0 +1,6 @@
+{
+    "((722, 1552), (1064, 1552))": {
+        "seg_desc": "Place the toothbrush inside the orange mug.",
+        "seg_desc_zh": "将牙刷放入橙色马克杯。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..9564692c6da1a58e7468a6324f72196e1543dd54
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
@@ -0,0 +1,22 @@
+{
+    "((827, 1757), (1064, 1757))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1757, 2390), (1921, 2390))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "(None, (2390, 2722))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    },
+    "((2442, 2780), None)": {
+        "seg_desc": "Hold the toothpaste to the position.",
+        "seg_desc_zh": "用手抓握牙膏并保持位置。"
+    },
+    "((2780, 3330), (2838, 3354))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json b/raw/oakinkv2/program/desc_info/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..82718254db71d6360cfff06eba98873fea2a59bf
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json
@@ -0,0 +1,14 @@
+{
+    "((397, 1098), (573, 1098))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1098, 2471), (1258, 2375))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "((2471, 3263), (2471, 2911))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json b/raw/oakinkv2/program/desc_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..149fb9ae3228a782db4d7b95cbef10afe4121726
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
@@ -0,0 +1,22 @@
+{
+    "((999, 1912), (1447, 1912))": {
+        "seg_desc": "Flip open the cap of the tooth paste tube.",
+        "seg_desc_zh": "翻开牙膏的盖子"
+    },
+    "((1912, 3437), (2288, 3437))": {
+        "seg_desc": "Squeeze tooth paste onto the tooth brush.",
+        "seg_desc_zh": "将牙膏挤到牙刷上"
+    },
+    "(None, (3437, 4205))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    },
+    "((3437, 4558), None)": {
+        "seg_desc": "Hold the toothpaste to the position.",
+        "seg_desc_zh": "用手抓握牙膏并保持位置。"
+    },
+    "((4558, 5538), (4558, 5090))": {
+        "seg_desc": "Flip close the cap of the tooth paste tube.",
+        "seg_desc_zh": "合上牙膏的盖子"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/desc_info/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json b/raw/oakinkv2/program/desc_info/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f82c802b977fc9cb7df8dd029581971d607a827
--- /dev/null
+++ b/raw/oakinkv2/program/desc_info/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json
@@ -0,0 +1,6 @@
+{
+    "(None, (547, 1035))": {
+        "seg_desc": "Rearrange the toothbrush from one position to another position.",
+        "seg_desc_zh": "将牙刷从一个位置移动到另一个位置。"
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..7120ea1a27e24803a48d22ac0f7b8f13c35b2319
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a plate to be cleaned in the center of the table.",
+        "There is a gray-green porcelain bottle that contains detergent in the front area of the table.",
+        "There is a spoon on the tool rack.",
+        "There is a sponge in the right area of the table."
+    ],
+    "recipe": [
+        "Three spoonfuls of detergent is transferred into the plate.",
+        "The plate to clean is wiped."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..716addc91111351d7fd8969801f533937b617045
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a plate in the center of the table.",
+        "The plate contains a piece of bread with some jam on it.",
+        "There is a spoon on the tool rack."
+    ],
+    "recipe": [
+        "The jam is spread on the bread."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e8fad2ad88b2bd42652c922a78dcaf888e3815
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a bowl in the center of the table.",
+        "There is a gray-green porcelain bottle that contains some drinks in the front right area of the table. The bottle is open.",
+        "There is a plate that contains some ice cubes in the front left area of the table.",
+        "There is a spoon on the tool rack in the right area of the table.",
+        "There is a pair of tongs in the right area of the table."
+    ],
+    "recipe": [
+        "Two spoonfuls of drink is transferred into the bowl and is cooled by three ice cubes."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..17452feab62b940f8a47217863674f458215ab9f
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a scale in the center of the table.",
+        "There is a plate in the front left area of the table.",
+        "The plate contains a donut.",
+        "There is another plate that is empty in the right area of the table."
+    ],
+    "recipe": [
+        "The donut in the plate is weighed with the scale."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e4803faecd15d949e435555eb1ae87818700a1
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a bowl in the center of the table.",
+        "There is a tall blue mug that contains juice.",
+        "There is a plate that contain sugar cubes.",
+        "There is a pair of tongs."
+    ],
+    "recipe": [
+        "Three sugar cubes are transferred into the bowl.",
+        "A quarter mug of juice is transferred into the bowl."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..0636ce2cea09514d84d2c00a4c5ab6958d4f0a20
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an empty bowl in the center of the table.",
+        "There is a tall blue mug that contains juice in the center of the table.",
+        "There is a rod on the tool rack."
+    ],
+    "recipe": [
+        "Half a mug of juice is transferred into the bowl and mixed up."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..e78f6853d44a9c78791af37cdf144c6e89dd02d8
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json
@@ -0,0 +1,6 @@
+{
+    "initial_condition": [
+        "There is a gray-green porcelain bottle in the center of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa1026a9d782fd00a47fbe1a0b4f6af87b728cf
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a plate in the center of the table.",
+        "There is a piece of bread inside the plate.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The bread inside the plate is heated with the microwave oven."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b139a83e007914464ef42733b39139011d6c92
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a gray-green porcelain bottle that contains honey in the front right area of the table. The bottle is open.",
+        "There is a tall blue mug that contains juice in the front left area of the table.",
+        "There is an empty bowl in the center of the table.",
+        "There is a spoon on the tool rack."
+    ],
+    "recipe": [
+        "There is two spoonfuls of honey and a quarter mug of juice in the bowl."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7287a9541359886efea0c4fc2b7becbfc41525f
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a plate in the center of the table.",
+        "The plate contains a piece of bread.",
+        "There is a donut in the center of the table."
+    ],
+    "recipe": [
+        "The donut is on the top of the bread."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddffc8324ec0b0836601307c4db692662994793e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a gray-green porcelain bottle that contains some sauce in the center of the table. The bottle is open.",
+        "There is an empty plate in the center of the table.",
+        "There is a spoon on the tool rack."
+    ],
+    "recipe": [
+        "There are four spoonfuls of evenly spread sauce inside the plate."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b3ccaed0606fbd4bc959c2ae30c84299719809
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is an apple in the front area of the table.",
+        "There is a donut in the front area of the table.",
+        "There is a bowl that contains jam in the front right area of the table.",
+        "There is a yellow mug that contains sauces in the front right area of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a plate that contains sugar cubes in the front left area of the table.",
+        "There is an orange cleaver knife on the tool rack in the right area of the table.",
+        "There is a spoon and a fork on the tool rack in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The donut is baked.",
+        "The donut has two apple slices on its top.",
+        "The donut and apple slices are dressed with two spoonfuls of jam."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e80ae1004b9f4b3061d60dee77261ada6d5306d
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a plate in the center of the table.",
+        "That plate contains a slice of bread that has some evenly spread seasonings on it.",
+        "There is a plate that contains a donut in the center of the table.",
+        "There is a fork and a white fruit knife in the right area of the table."
+    ],
+    "recipe": [
+        "The donut is on top of the bread slice.",
+        "The tablewares are in position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..54eaac89dac2f3f6be857b956e8a6f4b3851af80
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a bowl that contains some drink in the center of the table.",
+        "There is a fryingpan that contains some sugar cubes in the left area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a fork and a white fruit knife in the front area of the table."
+    ],
+    "recipe": [
+        "The drink has three sugar cubes put into it.",
+        "The tablewares are in position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..237c99ae723fc1d186bf6fd1a3f4e47ca62c8488
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is an apple and a pear in the front area of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a yellow mug that contains salad sauces in the front right area of the table.",
+        "There is a bowl that contains jam in the right area of the table.",
+        "There is a donut in the center of the table.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is a fork, an orange cleaver knife and a white fruit knife in the right area of the table.",
+        "There is a spoon on the tool rack in the back right corner of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "Apple and pear are both cut to two slices.",
+        "The slices have half a small cup of salt on the surface for flavor.",
+        "The slices are dressed with three spoonfuls of salad sauces."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bddddc9dda34b3aa7a277ad52478d60272041f0
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a plate that has an apple inside it in the center of the table.",
+        "There is a yellow mug that contains seasonings in the left area of the table.",
+        "There is a white cleaver knife in the center of the table.",
+        "There is a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The apple is cut into two slices.",
+        "The apple slices are coated with three spoonfuls of seasonings."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..b072160bd41411b9ecd718deda3902c1e565719e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a plate that contains a slice of bread in the center of the table.",
+        "There is a fryingpan that contains some seasonings in the left area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a white fruit knife in the front right area of the table."
+    ],
+    "recipe": [
+        "The bread slice has some evenly spread seasonings on its top."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc4b90dfdcde3d79f965b66916fe8a87427ac91
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an empty wineglass in the center of the table.",
+        "There is an orange mug that contains orange juice on the shelf in the right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk in the front area of the table.",
+        "There is a plate that contains honey in the front area of the table.",
+        "There is a blue mug that contains strawberry jam in the front right area of the table.",
+        "There is a little green cup that contains salt in the right area of the table.",
+        "There is a blue cup that contains blackberry jam in the front area of the table.",
+        "There is a spoon, a rod and a fork on the tool rack in the left area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing two spoonfuls of strawberry jam and two spoonfuls of orange juice into half a wineglass of milk.",
+        "The drink contains two spoonfuls of salt to create a savory flavor.",
+        "he ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b15ee931822e447b2908b3f584c5babdb03ac78
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a plate to clean in the center of the table.",
+        "There is a fryingpan in the left area of the table.",
+        "There is a sponge in the right area of the table."
+    ],
+    "recipe": [
+        "The plate is wiped clean with the sponge."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec1e25c1835b28343b89e1ca71ae75b2e2a01a9
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an empty blue mug in the center of the table.",
+        "There is a large white bottle that contains water in the front area of the table. The bottle is securely sealed.",
+        "There is a large black and yellow striped bottle that contains milk in the front area of the table. The bottle is securely sealed.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is a green striped bottle that contains herbal tea on the shelf in the right area of the table.",
+        "There is a yellow striped bottle cap that contains juice powders on the shelf in the right area of the table.",
+        "There is a pair of tongs in the back right area of the table.",
+        "There is a spoon, a fork and a rod on the tool rack in the left area of the table."
+    ],
+    "recipe": [
+        "The tea is brewed by first adding tea powder covering the bottom of the mug, then half a mug of water.",
+        "The tea is cooled by at least three ice cubes.",
+        "The ingredients of the tea is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7c15704ea706eb8133cf3edaa2cef1e6a897db
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is two slices of bread and one donut in the front area of the table.",
+        "There is a bowl that contains salt in the back right area of the table.",
+        "The bowl that contains salt also has a spoon inside it.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a slice of bread, a donut filling, two spoonfuls of salt for seasoning and another slice of bread.",
+        "The sandwich is baked."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b12d09897813c9f2b0e621c341855e66728f3c6
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an empty bowl in the center of the table.",
+        "There is a plate that contains salt granules in the center of the table.",
+        "There is a large white bottle that contains cold soup in the right area of the table. It has been securely sealed.",
+        "There is a spoon in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "Two spoonfuls of salt are mixed into half a bowl of soup.",
+        "The mixed soup is heated."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a27798d4f5977661055fb12112e262a350f59cd
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a plate in the left area of the table.",
+        "That plate contains a slice of bread with some unevenly spread seasonings on it.",
+        "There is a plate that contains a donut in the front area of the table.",
+        "There is a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The bread slice has some evenly spread seasonings on its top.",
+        "The donut is on top of the bread slice."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..86976439fc77601c8e4d46aba9c90eab61bebd36
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There are two slices of bread in the center of the table.",
+        "There is a plate that contains a donut in the front right area of the table.",
+        "There is a bowl that contains salt in the right area of the table.",
+        "There is also a spoon inside that bowl containing salt.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a slice of bread, a donut filling, two spoonfuls of salt for seasoning and another slice of bread.",
+        "The sandwich is baked."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d7daf4e3fced6cd5bb2b4de7346603a55bc47c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is an empty green mug in the center of the table.",
+        "There is a bowl that contains sugar powders in the center of the table.",
+        "There is a large white bottle that contains water in the front area of the table. It has been securely sealed.",
+        "There is a microwave oven in the left area of the table.",
+        "There is a rod in the front right area of the table.",
+        "There is a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "Two spoonfuls of sugar powders in a quarter mug of hot water.",
+        "All ingredients are evenly mixed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..d380719a4c5c006d7d93ebac71aa7dd4a2ab8aac
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
@@ -0,0 +1,21 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is a yellow mug that contains sauces in the front right area of the table.",
+        "There is a fryingpan in the front right corner of the table.",
+        "There is an apple and a pear inside the fryingpan.",
+        "There is a bowl that contains jam in the right area of the table.",
+        "There is a donut in the center of the table.",
+        "There is an orange cleaver knife placed in the fryingpan.",
+        "There is a scale in the front area of the table.",
+        "There is a fork and a white fruit knife in the right area of the table.",
+        "There is a microwave oven in the left area of the table.",
+        "There is a spoon on the tool rack in the back right corner of the table."
+    ],
+    "recipe": [
+        "The apple is weighed and cut into two slices.",
+        "The two apple slices are cooled by at least four ice cubes."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bcffc5ba1b1041001d4fcd7f2ec463107c83f88
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a fryingpan to clean in the center of the table.",
+        "There is a plate in the left area of the table.",
+        "There is a sponge in the right area of the table."
+    ],
+    "recipe": [
+        "The fryingpan is wiped clean with the sponge."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfc6e57dc6185717149354c449820f1361cd197b
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a bowl that contains some liquid in the center of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The liquid inside the bowl is heated by the microwave oven."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa89634ba64bd2b3a7304b3ff1455ba1c670598e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a plate that contains a loaf of bread in the back right area of the table.",
+        "There is an apple in the front area of the table.",
+        "There is a donut in the center of the table.",
+        "There is a blue mug that contains salt in the front area of the table.",
+        "There is a gray-green porcelain bottle that contains mustard sauce in the front area of the table. The bottle is securely sealed.",
+        "There is a yellow mug that contains sugar in the front area of the table.",
+        "There is a bowl that contains tomato sauce in the front right area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a spoon and a fork on the tool rack in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a slice of bread, apple slice and donut filling and another slice of bread.",
+        "The sandwich filling is made up of an apple slice and a donut.",
+        "The sandwich filling is seasoned by two spoonfuls of tomato sauce, four spoonfuls of mustard sauce, a spoonful of salt and four spoonfuls of sugar."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f799b92aef2bea836c9a7fc3444b9da153b66720
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
@@ -0,0 +1,21 @@
+{
+    "initial_condition": [
+        "There is a plate in the center of the table.",
+        "There is an apple in the front area of the table.",
+        "There is a gray-green porcelain bottle that contains grated cheese in the back right corner of the table. It is securely sealed.",
+        "There is a yellow mug that contains salad sauce in the front area of the table.",
+        "There is a little green cup that contains salt in the front left area of the table.",
+        "There is a plate that contains sugar cubes in the front area of the table.",
+        "There is a bowl that contains jam in the front right area of the table.",
+        "There is a spoon lying inside the plate.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a fork on the tool rack in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The apple is cut into two slices.",
+        "The apple slices are coated with two spoonfuls of cheese before baking.",
+        "The apple slices with cheese are baked.",
+        "The apple slices with cheese are is seasoned by two spoonfuls of salt and two spoonfuls of salad sauce."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..0955fb7c62b65ce6a606edd739fca0751487b0fe
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json
@@ -0,0 +1,22 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a fryingpan in the front right corner of the table.",
+        "The fryingpan contains an apple and a pear inside it.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a yellow mug that contains salad sauce in the front area of the table.",
+        "There is a bowl that contains jam in the right area of the table.",
+        "There is a donut in the center of the table.",
+        "There is a scale in the front area of the table.",
+        "There is an orange cleaver knife inside the fryingpan.",
+        "There is a pair of tongs in the back right area of the table.",
+        "There is a white fruit knife and a fork in the back right corner of the table.",
+        "There is a spoon on the tool rack in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The apple and the pear are weighed then sliced. Each is cut into two slices.",
+        "The apple and pear sliced are cooled by at least four ice cubes."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a5b7f09f140d52b23dc4355cf86ae1b93f75f5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty green mug in the center of the table.",
+        "There is a yellow mug that contains sugar in the left area of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a large white bottle cap that contains water in the front area of the table. The bottle is securely sealed.",
+        "There is a bowl that contains fruit juice powder on the shelf in the right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk in the front area of the table. The bottle is securely sealed.",
+        "There is a gray-green porcelain bottle that contains tea powder on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is a fork, a spoon and a rod on the tool rack in the left area of the table.",
+        "There is a pair of tongs on the plate in the front left area of the table."
+    ],
+    "recipe": [
+        "The fruit juice is prepared by mixing juice powder with water.",
+        "The juice is flavored with both sugar and salt to create a mixed flavor.",
+        "The ingredients of the juice is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10e465b79e6441122a1875270d4ff98b74b1934
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json
@@ -0,0 +1,21 @@
+{
+    "initial_condition": [
+        "There is a used fryingpan in the center of the table. The fryingpan contains large cube residues and liquid residues.",
+        "There is a used fork inside the fryingpan.",
+        "There is a gray-green porcelain bottle thas has been uncapped in the right area of the table.",
+        "There is a large black and yellow striped bottle that has been securely sealed in the front area of the table. It contains clean water.",
+        "There is a blue striped bottle that has been securely sealed in the left area of the table. It contains the detergents.",
+        "There are two empty plates in the front right area of the table.",
+        "There is a sponge in the left area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon placed on the gray-green porcelain bottle body.",
+        "There is a microwave oven in the left area of the table.",
+        "There are two empty tool racks in the right area of the table."
+    ],
+    "recipe": [
+        "Transfer large cube residues and liquid residues into the empty plates for cleaning the fryingpan.",
+        "Use clean water and detergents to clean the fryingpan, and transfer the residues into the plates.",
+        "All used containers are securely sealed.",
+        "All used tools are stored in proper places."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c3005f399253eed91096b15d2cdb1a7957ac07
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an empty bowl in the center of the table.",
+        "There is a gray-green porcelain bottle that contains tea powder on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is an orange mug that contains juice on the shelf in the right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk in the front area of the table.",
+        "There is a plate that contains honey in the front area of the table.",
+        "There is a little green cup that contains salt in the left area of the table.",
+        "There is a blue cup that contains fruit jam in the left area of the table.",
+        "There is a spoon, a rod and a fork on the tool rack in the left area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing in order tea powder covering the bottom of the bowl, fruit juice covering the bottom of the bowl, and half a bowl of milk.",
+        "The drink is flavored by two spoonfuls of salt and two spoonfuls of honey.",
+        "The ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53ae8399ca8e1b5729b28c6a7c54e42c2301e50
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a plate that contains a slice of bread in the center of the table.",
+        "There is a donut in the front area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The bread slice is heated",
+        "The donut is on top of the heated bread slice."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae63284ace476a023f6d27694b071f2b6b9e9966
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a plate that contains a loaf of break in the back right area of the table.",
+        "There is a yellow mug that contains sugar in the front area of the table.",
+        "There is a bowl that contains tomato sauce in the right area of the table.",
+        "There is a donut in the center of the table.",
+        "There is an apple in the front right area of the table.",
+        "There is a gray-green porcelain bottle that contains grated cheese in the front area of the table. It is securely sealed.",
+        "There is a blue mug that contains salt in the front right area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a spoon and a fork on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a slice of bread, the tomato sauce and sugar filling, and another slice of bread.",
+        "The sandwich filling is made up of four spoonfuls of tomato sauce and four spoonfuls of sugar.",
+        "The tablewares are placed in position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..676728451d59b2fda9df759e24eadbca8695e0e2
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty blue mug in the center of the table.",
+        "There is a gray-green porcelain bottle that contains tea powder on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is an orange mug that contains juice in the front right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk in the front area of the table. The bottle is securely sealed.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a large white bottle large white bottle cap milk in the front area of the table. The bottle is securely sealed.",
+        "There is a plate that contains ice cubes in the front right area of the table.",
+        "There is a yellow mug that contains sugar in the right area of the table.",
+        "There is a rod, a spoon and a fork on the tool rack in the right area of the table.",
+        "There is a pair of tongs on the plate that has ice cubes in the front right area of the table."
+    ],
+    "recipe": [
+        "The fruit juice milk tea is prepared by mixing tea powder covering the bottom of the mug, a quarter mug of fruit juice and half a mug of milk in order.",
+        "The drink contains half a spoonful of salt to create a savory flavor.",
+        "The ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..1662d767515e0dab793dd12e282eca6a86766b31
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the right area of the table.",
+        "There is a donut in the center of the table.",
+        "There is a yellow mug that contains sauces in the front area of the table.",
+        "There is an apple in the front area of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a plate that contains sugar cubes in the front left area of the table.",
+        "There is a bowl that contains jam in the front right area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a fork and a spoon on the tool rack in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The donut is baked in microwave oven.",
+        "The baked donut is dressed with four spoonfuls of sauces.",
+        "The tablewares are placed in position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..efed4a9405c5db07bf3d7922d72074ffbd67c81d
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is a bowl that contains some dish in the center of the table.",
+        "There is a fryingpan that contains some sugar cubes in the left area of the table.",
+        "There is an empty plate in the front area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon on the tool rack in the front area of the table."
+    ],
+    "recipe": [
+        "The dish has three sugar cubes put into it.",
+        "The dish is transferred into the plate."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97f76e544b05fceddc5396688239d4fee524863
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json
@@ -0,0 +1,21 @@
+{
+    "initial_condition": [
+        "There is a plate in the center of the table.",
+        "There is a donut inside the plate.",
+        "There is a blue cup that contains grated cheese in the right area of the table.",
+        "There is a little green cup that contains salt in the left area of the table.",
+        "There is a bowl that contains tomato sauce in the front area of the table.",
+        "There is a yellow mug that contains salad sauce in the front area of the table.",
+        "There is a plate that contains sugar cubes in the front area of the table.",
+        "There is a fryingpan in the front right corner of the table.",
+        "There is a microwave oven in the left area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a spoon and a fork on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The donut is coated with three spoonfuls of cheese before baking.",
+        "The donut is baked with cheese on its surface.",
+        "The donut with cheese has three spoonfuls of tomato sauce on its top.",
+        "The tablewares are in their position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a8e5cd7bb5689d22579860c139cc295b3a353a
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There are two bread slices in the center of the table.",
+        "There is a plate that contains that contains a donut in the left area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a bread slice, a donut and another bread slice."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..0100d4bf8fe21baec22050954b70ad2301ccea3c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a pear in the left area of the table.",
+        "There is a bowl that contains some seasonings in the left area of the table.",
+        "There is a pair of tongs in the left area of the table.",
+        "There is a white cleaver knife in the front right area of the table."
+    ],
+    "recipe": [
+        "The pear is cut into two slices and put into the plate.",
+        "The pear slices have four blocks of seasonings on the top. "
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9bc280a9fec45c1f8781a8ec2326a61dc13660
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a bowl that contains some drink in the center of the table.",
+        "There is a fryingpan that contains some sugar cubes in the left area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon and a white fruit knife in the front area of the table."
+    ],
+    "recipe": [
+        "The drink has three sugar cubes put into it.",
+        "The tablewares are in position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..a519dc52c9b8d311da75da3d84d2ea68adce60e5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an empty bowl in the center of the table.",
+        "There is a gray-green porcelain bottle that contains tea powder on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a pear on the shelf in the right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk in the front area of the table. The bottle is securely sealed.",
+        "There is a blue cup that contains fruit jam in the left area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a spoon, a rod and a fork on the tool rack in the left area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing three spoonfuls of tea powder, one pear slice, three spoonfuls of fruit jam and half a bowl of milk in order.",
+        "The ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56fcd71e80dacc788ff1e49a13eaf2c7b9c04a1
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a donut in the center of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a plate that contains sugar cubes in the front left area of the table.",
+        "There is a blue cup that contains cheese in the front area of the table.",
+        "There is a bowl that contains tomato sauce in the front right area of the table.",
+        "There is a microwave oven in the left area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a fork and a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The donut is baked.",
+        "The donut is seasoned by three spoonfuls of salt."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..7258eeba2e49dafb6da116d3a07fbf77be194aee
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a plate that has a slice of bread in the center of the table.",
+        "There is a bowl that contains seasonings in the left area of the table.",
+        "There is a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The surface of the bread slice is evenly coated with seasoning."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..9852c1a593749282d974136bf61f12f82e7a3ddb
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a securely sealed yellow striped bottle in the center of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "Heat the yellow striped bottle while open."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a9e7fd11c2bc168bea17d46bc5eba44468dd266
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is an empty blue mug in the center of the table.",
+        "There is an apple in the left area of the table.",
+        "There is a large black and yellow striped bottle that contains water in the front area of the table.",
+        "There is a bowl that contains tea powder on the shelf in the right area of the table.",
+        "There is a little green cup that contains sugar on the shelf in the right area of the table.",
+        "There is a large white bottle cap that contains milk in the front area of the table.",
+        "There is a plate that contains honey in the left area of the table.",
+        "There is a plate that contains ice cubes in the front left corner of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a spoon, a fork and a rod on the tool rack in the left area of the table.",
+        "There is a pair of tongs placed on the plate in the front left corner of the table."
+    ],
+    "recipe": [
+        "The tea is brewed by first adding two spoonfuls of tea powder, then a quarter mug of water.",
+        "The tea contains an apple slice and a small spoonful of salt for flavor.",
+        "The ingredients of the tea is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..8256db8fdbb6171b7f946f8f89d8112cb6196d2c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is a plate that has a donut inside it in the center of the table.",
+        "There is a plate that contains a loaf bread in the front area of the table.",
+        "There is a gray-green porcelain bottle that contains grated cheese in the right area of the table.",
+        "There is a bowl that contains tomato sauce in the right area of the table.",
+        "There is a yellow mug that contains sugar in the front area of the table.",
+        "There is a blue mug that contains salt in the front area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a microwave oven in the left area of the table.",
+        "There is a spoon and a fork on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a slice of bread, a cheese donut filling, and another slice of bread.",
+        "The sandwich filling is made up of a donut and two spoonfuls of grated cheese.",
+        "The sandwich is baked.",
+        "The sandwich has three spoonfuls of tomato sauce for seasoning on its top.",
+        "The tablewares are placed in position"
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..416b72c464e501266a1868976eb730b9a223e49f
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a bowl that contains some drink in the center of the table.",
+        "There is a fryingpan that contains some sugar cubes in the left area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon on the tool rack in the front area of the table."
+    ],
+    "recipe": [
+        "The drink has three sugar cubes dissolved into it."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..be45de1a3ef878ed67e4935fc2734d109870e5a1
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an empty bowl in the center of the table.",
+        "There is an apple in the center of the table.",
+        "There is a blue striped bottle that contains brewed tea in the front area of the table. It has been securely sealed.",
+        "There is a plate that contains sugar cubes in the front left area of the table.",
+        "There is a white fruit knife in the right area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing half a bowl brewed tea,  an apple slice and three sugar cubes.",
+        "The drink is heated after evenly mixing all its ingredients."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d953daa92334113bdaf2670672feeb2e2216403
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a plate that contains a loaf of bread in the front area of the table.",
+        "There is a microwave oven in the left area of the table.",
+        "There is an orange cleaver knife in the front area of the table."
+    ],
+    "recipe": [
+        "The bread slices are cut from the loaf.",
+        "The bread slices are heated."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..942c9be12dbc2d8024592e4eb5240b4ed0d5c0e5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is an empty fryingpan in the center of the table.",
+        "There is a pear in the center of the table.",
+        "There is a green striped bottle that contains seasonings in the front area of the table. The bottle is securely sealed.",
+        "There is a white cleaver knife in the front right area of the table."
+    ],
+    "recipe": [
+        "The pear is cut into two slices and placed in the fryingpan.",
+        "The pear is coated with seasonings."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..924ce06267f2766f960eafa9ebfdcdb19c27eb65
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the center of the table.",
+        "There is a donut in the center of the table.",
+        "There is a little green cup that contains salt in the front area of the table.",
+        "There is a plate that contains sugar cubes in the front left area of the table.",
+        "There is a blue cup that contains cheese in the front area of the table.",
+        "There is an apple in the front right area of the table.",
+        "There is a bowl that contains tomato sause in the front right area of the table.",
+        "There is a microwave oven in the left area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a fork and a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The donut is baked.",
+        "The donut is seasoned by three spoonfuls of salt.",
+        "The tablewares are placed in position."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5cfc02138d73b5837d81809b7d76dfd43e1d19
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a plate that contains a donut in the center of the table.",
+        "There is a microwave oven in the left area of the table."
+    ],
+    "recipe": [
+        "The donut in the plated is heated by the microwave oven."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb1a9d82b41aba026b5fb315776c256f435aff90
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a plate to clean in the center of the table.",
+        "There is a large white bottle that contains detergents in the center of the table. The bottle is open.",
+        "There is a sponge in the right area of the table.",
+        "There is a spoon on the tool rack in the center of the table."
+    ],
+    "recipe": [
+        "The plate requires at least one spoonful of detergent to be cleaned. ",
+        "The plate is then wiped using a sponge."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d75f92545835f6aa411cfd4e24c068688efb9c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an empty blue cup in the front area of the table.",
+        "There is an orange mug that contains fruit juice powder in the front right area of the table.",
+        "There is a gray-green porcelain bottle that contains tea powder in the front area of the table.",
+        "There is a large white bottle that contains water in the front left area of the table.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon on the tool rack in the front right area of the table.",
+        "There is a rod on the tool rack in the front area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing a quarter cup of water, a quarter cup of juice powder, and two spoonfuls of tea powder.",
+        "The drink is chilled with at least two ice cubes.",
+        "The ingredients of the tea is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac0e0bcaf4781d76c88d72427185932dfdf6771
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an empty plate in the front left area of the table.",
+        "There is an apple in the left area of the table.",
+        "There is a plate that contains ice cubes in the front left area of the table.",
+        "There is an orange cleaver knife in the right area of the table.",
+        "There is a pair of tongs in the center of the table.",
+        "There is a scale in the left area of the table.",
+        "There is a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The apple is weighed and cut into two slices, and the platter needs at least one apple slice.",
+        "The apple slice is cooled by at least two ice cubes."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30c78b98c0182c316803a5e278e67c0cd581bb4
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an empty blue cup in the front area of the table.",
+        "There is a large white bottle that contains water in the front area of the table. The bottle is securely sealed.",
+        "There is a bowl that contains honey in the front area of the table.",
+        "There is a yellow mug that contains coffee powder in the left area of the table.",
+        "There is a spoon and a rod on the tool rack in the front right area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing a spoon of coffee powder, a spoon of honey and half a cup of water in order.",
+        "The ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f649c14ad36e266e978560186b6ddc901a850a1
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json
@@ -0,0 +1,18 @@
+{
+    "initial_condition": [
+        "There is an empty wineglass in the front area of the table.",
+        "There is an empty blue cup in the front area of the table.",
+        "There is a red striped bottle that contains wine in the front area of the table.",
+        "There is a green striped bottle that contains fruit juice in the front area of the table.",
+        "There is a green mug that contains soda water in the front left area of the table.",
+        "There is a little green cup contains sugar in the left area of the table.",
+        "There is a scale in the front left area of the table.",
+        "There is a rod and a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The wine is prepared in cup for the precise measurement of each ingredient. Then the wine is transferred into the wineglass for product.",
+        "The wine is prepared by mixing equal amounts of wine, fruit juice, and soda water in order.",
+        "The amounts of the required ingredients are measured accurately with the scale.",
+        "The wine is flavored with extra sugar."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..989240cd0873251a5a5060a1727eb13aac8d416e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an empty blue cup in the front area of the table.",
+        "There is a gray-green porcelain bottle that contains brewed tea in the front area of the table. The bootle is securely sealed.",
+        "There is a large white bottle that contains milk in the front left area of the table. The bootle is securely sealed.",
+        "There is a rod on the tool rack in the front area of the table.",
+        "There is a spoon on the tool rack in the front right area of the table."
+    ],
+    "recipe": [
+        "The milk tea is prepared by mixing milk and brewed tea.",
+        "The ingredients of the tea is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..216a1ab68fc510007dd3c7e970f8b2251a2b8448
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an empty wineglass in the center of the table.",
+        "There is a plate that contains ice cubes in the left area of the table.",
+        "There is a pair of tongs in the right area of the table."
+    ],
+    "recipe": [
+        "The ice cubes are put into the wineglass."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e54a7581250aa2e31a57cc801d7f37da00980b7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json
@@ -0,0 +1,23 @@
+{
+    "initial_condition": [
+        "There is an empty blue mug in the center of the table.",
+        "There is a large white bottle cap that contains water in the back right area of the table. The bottle is securely sealed.",
+        "There is a plate that contains ice cubes in the front right area of the table.",
+        "There is a little green cup that contains salt in the front right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk powder in the front area of the table. The bottle is securely sealed.",
+        "There is a red striped bottle that contains wine in the front area of the table. The bottle is securely sealed.",
+        "There is a yellow striped bottle that contains juice in the front area of the table. The bottle is securely sealed.",
+        "There is a green striped bottle that contains tea powder in the front area of the table. The bottle is securely sealed.",
+        "There is a yellow mug that contains sugar in the front left area of the table.",
+        "There is a bowl that contains jam in the front right corner of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon, a fork and a rod on the tool rack in the right area of the table.",
+        "There is a microwave oven in the back left corner of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing half a mug of milk, a quarter mug of juice and a spoonful of jam.",
+        "The milk is prepared by adding water and milk powder in order and mixing them until dissolved.",
+        "The drink is chilled with at least one ice cube.",
+        "The ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe511f6fc306d2b0ffe9de16f27a218a04b618c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json
@@ -0,0 +1,22 @@
+{
+    "initial_condition": [
+        "There is an empty blue cup in the center of the table.",
+        "There is a large white bottle cap that contains water in the back right area of the table. The bottle is securely sealed.",
+        "There is a plate that contains ice cubes in the front right area of the table.",
+        "There is a little green cup that contains salt in the front right area of the table.",
+        "There is a large black and yellow striped bottle that contains milk powder in the front area of the table. The bottle is securely sealed.",
+        "There is a red striped bottle that contains wine in the front area of the table. The bottle is securely sealed.",
+        "There is a yellow striped bottle that contains juice in the front area of the table. The bottle is securely sealed.",
+        "There is a green striped bottle that contains tea powder in the front area of the table. The bottle is securely sealed.",
+        "There is a yellow mug that contains sugar in the front left area of the table.",
+        "There is a bowl that contains jam in the front right corner of the table.",
+        "There is a pair of tongs in the right area of the table.",
+        "There is a spoon, a fork and a rod on the tool rack in the right area of the table.",
+        "There is a microwave oven in the back left corner of the table."
+    ],
+    "recipe": [
+        "The drink is prepared by mixing a spoonful of tea powder, a quarter mug of water and a spoonful of fruit jam in order.",
+        "Stir well after each addition of ingredients.",
+        "The drink is chilled with at least one ice cube."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df481fc4428fcd91a39dc79fc04c99c0713618b
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a fryingpan that contains a bread slice in the center of the table.",
+        "There is a plate that contains an apple slice and another bread slice in the right area of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a slice of bread, a filling of an apple slice, and another slice of bread."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json b/raw/oakinkv2/program/initial_condition_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..d243e670a2b223cdfd11d43b3d504ed76b3e81dc
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a plate that contains a slice of bread. The bread slice has some jam on it.",
+        "There is a spoon on the tool rack in the right area of the table."
+    ],
+    "recipe": [
+        "The jam is evenly spread on the bread slice."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad98362c1da49e70cf2b2762f0afc4477bae708
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json
@@ -0,0 +1,8 @@
+{
+    "initial_condition": [
+        "There is an apple slice and two bread slices in the center of the table."
+    ],
+    "recipe": [
+        "The sandwich is assembled from a bread slice, an apple slice and another bread slice."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..aea643384e0e9049a170c2d93e5dcdfbb8fae9fc
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is an apple in the center of the table.",
+        "There is a white fruit knife in the right area of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..673891f125aabff36dd0a61a035d6425cf35f7d9
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is a green mug in the center of the table.",
+        "There is a rod in the center of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4093c422fb76c86e27858c90462c9603b58726c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json
@@ -0,0 +1,21 @@
+{
+    "initial_condition": [
+        "There is an empty green mug in the center of the table.",
+        "There is an empty little green cup in the left area of the table.",
+        "There is a plate that contains ice cubes in the right area of the table.",
+        "There is a gray-green porcelain bottle that contains milk powder in the front area of the table. The bottle is securely sealed.",
+        "There is a large black and yellow striped bottle that contains water in the front left area of the table. The bottle is securely sealed.",
+        "There is a gray-green porcelain bottle that contains tea powder in the left area of the table. The bottle is securely sealed.",
+        "There is a plate that contains sugar in the back left area of the table.",
+        "There is a spoon in the left area of the table.",
+        "There is a rod in the right area of the table.",
+        "There is a pair of tongs in the front right area of the table."
+    ],
+    "recipe": [
+        "The drink is prepared in the mug and then transfered to the little green cup.",
+        "The drink is prepared by mixing in order tea powders in the amount sufficient to cover the bottom of the mug, half a mug of water, and an equal amount of milk powder as tea powder.",
+        "The drink has a sweet taste from sugar.",
+        "The drink is chilled with at least one ice cube.",
+        "The ingredients of the drink is mixed evenly."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..567a560108416d8af74fa570fc0ae0b1bf19984e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json
@@ -0,0 +1,18 @@
+{
+    "initial_condition": [
+        "There are two pieces of cut paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a pen in the center of the table.",
+        "There is a stapler in the front area of the table.",
+        "There is a whiteboard eraser in the front right area of the table.",
+        "There is a whiteboard in the front left area of the table.",
+        "There is a pair of scissors in the back right area of the table.",
+        "There is a box in the back right corner of the table."
+    ],
+    "recipe": [
+        "Erase the writing on the whiteboard.",
+        "Place the writing tools in their designated positions.",
+        "Store the stapler and the scissors in the box.",
+        "Store the cut paper pieces in the box."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..379b21765f17b0a9c40d78fe19ebdbdea88d2b28
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a closed drawer that contains a pencil in the left area of the table.",
+        "There is a pencil sharpener in the center of the table.",
+        "There is a piece of paper in the center of the table."
+    ],
+    "recipe": [
+        "Sharpen the pencil and write on the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2cd198316d030929742d3051f4744f570edde5c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a lamp that has been turned off in the left area of the table.",
+        "There is a closed laptop in the center of the table."
+    ],
+    "recipe": [
+        "In a well-lit environment, open the laptop lid and turn on the power of the laptop."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..382fb511ff9d3cbba7b5e72ef248b4330cbf2a13
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
@@ -0,0 +1,18 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "There is an unplugged usb power plug in the left area of the table.",
+        "There is an unplugged power plug in the left area of the table.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "There is a lamp that has been turned on in the front left area of the table.",
+        "There is an empty vase in the front left area of the table.",
+        "There is a box in the back left area of the table.",
+        "The box contains the plastic flower, the mouse and the gamecontroler."
+    ],
+    "recipe": [
+        "The environment need to be lit.",
+        "The laptop is powered and its lid is opened.",
+        "The flower is put into the vase for decoration.",
+        "The gamecontroler is used for entertainment."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eddc8e36996bb9e0715967a31e9ba6520386ad6
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a lamp in the center of the table.",
+        "There is a lamp lightbulb in the center of the table.",
+        "There is a multi-socket power strip in the center of the table.",
+        "There is an unplugged power plug in the right area of the table."
+    ],
+    "recipe": [
+        "Install the lightbulb into the lamp and then turn on the lamp."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b808abb026660ee5d724657d86e1d81b2ca4c3
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a usb power plug that has already been inserted into the laptop.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "There is a power plug already inserted into the power strip.",
+        "There is a lamp already turned on in the front left area of the table.",
+        "There is a box in the back right area of the table.",
+        "There is a mouse in the right area of the table.",
+        "There is a gamecontroler in the back left area of the table.",
+        "There is a vase in the right area of the table.",
+        "There is a plastic flower in the vase."
+    ],
+    "recipe": [
+        "Remove the power supply of the laptop and close the laptop lid.",
+        "Store the peripheral devices into the box.",
+        "Turn off the lamp.",
+        "Put the plastic flower into the vase for proper storage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe22428e249b15828f9fb19409b3ed02e30c756e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a stapler in the right area of the table.",
+        "There is a pair of scissors in the right area of the table."
+    ],
+    "recipe": [
+        "Draw auxiliary lines with the pencil on the paper.",
+        "Shear the paper according to the auxiliary lines.",
+        "Bind the paper together with the stapler."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..01fe69221508b00a78d7f9dff2d88088264916b3
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a lamp that has been turned on in the left area of the table."
+    ],
+    "recipe": [
+        "Turn off the lamp and close the laptop lid for energy saving."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee9f66f4b8a30a2f8b704af0c6872348e0b44e1a
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "There is a usb receiver of the gamecontroler in the center of the table.",
+        "There is a gamecontroler in the back area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is an unplugged power plug in the back right corner of the table."
+    ],
+    "recipe": [
+        "Power and open the laptop.",
+        "Insert the usb receiver of the gamecontroler.",
+        "Use the gamecontroler to control the laptop."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3f5e9c8de194c69b04440158c75d929fbcdcc4
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is a lamp that has been turned on.",
+        "The power plug of the lamp is plugged into the multi-socket power strip."
+    ],
+    "recipe": [
+        "Turn off the lamp and remove its power supply."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..622e7f9abb37cccb774c652a0b5a401652feff80
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "There is a usb receiver of the mouse in the center of the table.",
+        "There is a mouse in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is an unplugged power plug in the right area of the table."
+    ],
+    "recipe": [
+        "Power and open the laptop.",
+        "Insert the usb receiver of the mouse.",
+        "Use the mouse and the laptop keyboard to control the laptop."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..a953073018d80459ad55f37815ed034d99258b48
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a usb receiver already plugged into the laptop.",
+        "There is a mouse in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is a power plug already plugged into the power strip."
+    ],
+    "recipe": [
+        "Use laptop keyboard or mouse to power off the laptop.",
+        "Remove the power supply of the laptop.",
+        "Close the laptop lid and remove the usb receiver."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8053949c0224c0ec1339683520ad45ac70b1138
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the back area of the table.",
+        "There is a whiteboard pen in the center of the table.",
+        "There is a whiteboard in the front left area of the table.",
+        "There is a whiteboard eraser in the front area of the table.",
+        "There is a pair of scissors in the back right area of the table."
+    ],
+    "recipe": [
+        "Design shape on the whiteboard and cut out a rectangular piece of paper according to the dimension of the designed shape.",
+        "Erase everything on the whiteboard after shearing the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..974af09bff4db76c31779dd415eb1da178f773c5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is some sheets of paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a whiteboard in the center of the table. There are some text outlines on the whiteboard.",
+        "There is a whiteboard eraser in the front area of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "The drawer contains a stapler.",
+        "There is a lamp that has beeen turned on in the front left area of the table."
+    ],
+    "recipe": [
+        "Write detailed texts on the paper.",
+        "Erase the outlines on the whiteboard after writing the text on the paper.",
+        "Bind the sheets of paper with text into a document with the stapler.",
+        "The stapler is properly stored."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e34d414465a8b3c9d3a9bf05a679cc169d107a7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a usb power plug that has been inserted into the laptop.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "The power plug of the laptop has been inserted into the multi-socket power strip.",
+        "There is a lamp that has been turned on in the front right area of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "There is a mouse in the back right area of the table."
+    ],
+    "recipe": [
+        "Close the laptop lid and remove the power supply of the laptop.",
+        "Turn off the lamp after the laptop is powered off for energy saving.",
+        "Store the mouse into the drawer."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44499d753a0cff2591eec3917e742a1e69e363d
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a pencil sharpener in the left area of the table.",
+        "There is a lamp in the front left area of the table. The lightbulb of the lamp has been removed due to a malfunction.",
+        "There is a drawer in the left area of the table. The drawer is closed.",
+        "The drawer has a blunt pencil inside it.",
+        "There is a box in the right area of the table. The box is closed.",
+        "The box contains a plastic flower and a new lightbulb for replacement.",
+        "There is an empty vase in the front area of the table."
+    ],
+    "recipe": [
+        "The plastic flower is placed into the vase as a sample.",
+        "The replacement bulb is installed in the lamp and the table is illuminated.",
+        "Under good lighting, draw the shape of the flower on a piece of paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..28636fccb914372dab99394b25caae39de4f9afc
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a whiteboard eraser in the center of the table.",
+        "There is a whiteboard pen in the left area of the table.",
+        "There is a pencil sharpener in the left area of the table.",
+        "There is a pencil in the right area of the table.",
+        "There is a pair of scissors in the right area of the table.",
+        "There is a lamp that has been turned off in the front left area of the table."
+    ],
+    "recipe": [
+        "The environment is well-lit.",
+        "Design a flower shape on the whiteboard, and draw auxiliary lines of the designed shape on the paper.",
+        "Cut out the paper according to the auxiliary lines of the designed shape.",
+        "Erase everything on the whiteboard after shearing the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab5b6b43f039c665a7368d32fdb1ca9af9ea2ea
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is a lamp in the front left area of the table.",
+        "The power plug of the lamp is unplugged, located in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table."
+    ],
+    "recipe": [
+        "Power and turn on the lamp."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c70406c420a9023baf038edc6902badf0aa1ddec
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a whiteboard eraser in the center of the table.",
+        "There is a whiteboard pen in the left area of the table.",
+        "There is a whiteboard in the center of the table.",
+        "There is a lamp that has been turned off in the front left area of the table.",
+        "There is a pair of scissors in the right area of the table."
+    ],
+    "recipe": [
+        "In a well-lit environment, design a rectangle shape on the whiteboard and cut out the paper according to the designed shape.",
+        "Erase everything on the whiteboard after shearing the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90f27a0e127d8dfa94ac2336d8c9958eea5334d
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a whiteboard eraser in the center of the table.",
+        "There is a whiteboard pen in the center of the table.",
+        "There is a whiteboard in the center of the table.",
+        "There is a lamp that has been turned off in the front left area of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "The drawer contains a pair of scissors."
+    ],
+    "recipe": [
+        "Design a rectangle shape on the whiteboard and cut out the paper according to the designed shape.",
+        "Erase everything on the whiteboard after shearing the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a96c30fbb8cc447582d358d01adbd3a86f7b9e6
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a usb connector of the usb hub that has been inserted into the laptop.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "The power plug of the laptop has been inserted into the multi-socket power strip.",
+        "There is a lamp that has been turned on in the front right area of the table.",
+        "There is a box in the right area of the table.",
+        "There is a drawer inside the box.",
+        "There is a gamecontroler in the left area of the table."
+    ],
+    "recipe": [
+        "Close the labtop lid, remove the usb connector and remove the power supply of the laptop.",
+        "Turn off the light after the laptop lid is closed and peripherals and power supply of the laptop are removed.",
+        "Place the gamecontroler inside the drawer in the box for secure storage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..67df1b400ad604f193e7b9373d6c20d826c4f5c0
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "There is a usb connector for the laptop power adapter in the left area of the table.",
+        "The power plug of the laptop power adapter in the left area of the table.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "There is a lamp in the front right area of the table. The lightbulb of the lamp has been removed due to a malfunction.",
+        "There is a drawer that contains a mouse and a new lightbulb for replacement. The drawer is closed."
+    ],
+    "recipe": [
+        "The replacement bulb is installed in the lamp and the table is illuminated.",
+        "The laptop lid is opened and the laptop is powered throught the power adapter."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..512f42c4c458aebc32ea57bedb330a1d03110afd
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "The laptop is connected to a usb hub for peripheral devices.",
+        "There is a lamp in the front right area of the table. The lightbulb of the lamp has been removed due to a malfunction.",
+        "There is a box that contains a mouse and a new lightbulb for replacement. The box is closed.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "The power plug of the laptop has been unplugged and is located in the left area of the table.",
+        "The usb receiver of the mouse is in the left area of the table."
+    ],
+    "recipe": [
+        "The replacement bulb is installed in the lamp and the table is illuminated.",
+        "The laptop lid is opened and the laptop is powered.",
+        "The mouse is used to control the laptop in a well-lit environment for working."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..f902cdb82499968a5995d6713a73e8ba4ff02555
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a lamp that has been turned on in the left area of the table.",
+        "There is a pencil sharpener in the left area of the table.",
+        "There is a flower vase in the front area of the table.",
+        "The flower vase contains a plastic flower.",
+        "There is a box in the right area of the table."
+    ],
+    "recipe": [
+        "The pencil and the pencil sharpener are stored in the box.",
+        "The plastic flower is placed inside the box for proper storage.",
+        "The lamp is turned off after all tidying work is done."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a1609f82d8b9dbef3ee7b9aa3ea9e767200eec
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is a lamp that has been turned off in the front left area of the table.",
+        "There is a whiteboard eraser in the front area of the table.",
+        "There is a whiteboard in the center of the table.",
+        "There is a whiteboard pen in the center of the table.",
+        "There is a pencil sharpener in the left area of the table.",
+        "There is an empty vase in the front area of the table.",
+        "There is a box that contains a plastic flower and a pencil in the right area of the table."
+    ],
+    "recipe": [
+        "The design and draw process is performed in a well-lit environment.",
+        "The plastic flower is placed into the vase as a sample.",
+        "Design the flower shape on the whiteboard and draw the shape on the paper.",
+        "Erase everything on the whiteboard after drawing the flower shape on the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c2dcf904de8c4a877c2200c52e851540bcbe39
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is some sheets of paper in the center of the table.",
+        "There is a pencil in the right area of the table.",
+        "There is a whiteboard in the center of the table.",
+        "There is a whiteboard eraser in the center of the table.",
+        "There is a whiteboard pen in the front area of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "The drawer contains a stapler.",
+        "There is a lamp that has beeen turned on in the front left area of the table."
+    ],
+    "recipe": [
+        "Write text outlines on the whiteboard.",
+        "Write detailed texts on the paper.",
+        "Erase the outlines on the whiteboard after writing the text on the paper.",
+        "Bind the sheets of paper with text into a document with the stapler.",
+        "The stapler is properly stored."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..974af09bff4db76c31779dd415eb1da178f773c5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is some sheets of paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a whiteboard in the center of the table. There are some text outlines on the whiteboard.",
+        "There is a whiteboard eraser in the front area of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "The drawer contains a stapler.",
+        "There is a lamp that has beeen turned on in the front left area of the table."
+    ],
+    "recipe": [
+        "Write detailed texts on the paper.",
+        "Erase the outlines on the whiteboard after writing the text on the paper.",
+        "Bind the sheets of paper with text into a document with the stapler.",
+        "The stapler is properly stored."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..3876b9764c78e7cf22a67ca8f26697803513f932
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a mouse in the back area of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "There is a box in the right area of the table. The box is opened and the box lid is in the left area of the table."
+    ],
+    "recipe": [
+        "The mouse is stored in the drawer inside the box for extra security.",
+        "The laptop lid is closed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..88b03e6cbe646ba6866cf84786bf7a7ff1ff84f2
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "There is a drawer in the right area of the table. The drawer is closed.",
+        "There is a usb stick inside the drawer."
+    ],
+    "recipe": [
+        "The usb stick is inserted into the laptop.",
+        "The laptop lid is opened."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..148619abb7521df3614591cba62da8e2361b24bf
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "The usb connector of the laptop's power supply is inserted into the laptop.",
+        "There is a multi-socket power strip in the front right area  of the table.",
+        "The power plug of the laptop's power supply is plugged into the power strip.",
+        "There is a lamp in the front left area of the table. The lamp is on but the lightbulb of the lamp is already malfunctioning.",
+        "There is a drawer on the shelf in the front right corner of the table. The drawer is closed.",
+        "There is a gamecontroler in the back area of the table."
+    ],
+    "recipe": [
+        "Store the gamecontroler inside the drawer.",
+        "Close the laptop lid and remove the power supply of the laptop.",
+        "Remove the malfunctioning lightbulb from the lamp after lamp is turned off."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..75effe55749f2c835a34858140ac14cb8be1e857
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is a whiteboard in the center of the table.",
+        "There is a vase with a plastic flower inside in the front area of the table.",
+        "There is a box in the front right corner of the table. The box is opened and the box lid is in the front area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is a lamp in the front left area of the table.",
+        "The power plug of the lamp has been plugged into the power strip.",
+        "There is a whiteboard pen in the left area of the table.",
+        "There is a whiteboard eraser in the left area of the table."
+    ],
+    "recipe": [
+        "The whiteboard eraser and whiteboard pen is placed inside the box.",
+        "The plastic flower is placed inside the box for proper storage.",
+        "The lamp is turned off after the tidying is done and the power supply of the lamp is removed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0df303ed0bf50cb015cec03c57a9a1604ba5581
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is a laptop in the front left area of the table.",
+        "The laptop is connected to a usb hub for peripheral devices.",
+        "There is a usb connector for the laptop power adapter in the left area of the table.",
+        "The power plug of the laptop power adapter in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is a drawer on the shelf in the right area of the table. The drawer is closed.",
+        "There is mouse inside the drawer."
+    ],
+    "recipe": [
+        "The laptop lid is opened and the laptop is powered.",
+        "The mouse is placed next to the laptop for work."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..cef10a4222cc3bc49abe096661a7837b72f7a15a
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There are some sheets of paper in the center of the table.",
+        "There are also several sheets of paper in the left area of the table.",
+        "There is a lamp that has been turned on in the front left area of the table. The lamp is illuminating the table top.",
+        "There is a multi-socket power strip in the front right area of the table.",
+        "The power plug of the lamp has been plugged into the power strip.",
+        "There is a pencil sharpener in the front area of the table.",
+        "There is a drawer on the shelf in the front right corner of the table. The drawer is closed.",
+        "There is a blunt pencil and a stapler inside the drawer."
+    ],
+    "recipe": [
+        "Some text is written on the paper with the sharpend pencil.",
+        "The sheets of paper with text are stapled into a document with the stapler."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f9dec76dd48311a7949caf6d49c17c785c3a8b9
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is a laptop in the front left area of the table.",
+        "The laptop is connected to a usb hub for peripheral devices.",
+        "There is a usb connector for the laptop power adapter in the left area of the table.",
+        "The power plug of the laptop power adapter in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table.\"",
+        "There is a drawer on the shelf in the front right corner of the table. The drawer is closed.",
+        "There is mouse inside the drawer."
+    ],
+    "recipe": [
+        "The laptop lid is opened and the laptop is powered.",
+        "The mouse is placed next to the laptop for work."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a0d564c71c8aba72752b2037ca12a698bf4eb8
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a stapler in the center of the table.",
+        "There is a pencil sharpener in the front area of the table.",
+        "There are several sheets of paper in the left area of the table.",
+        "There is a box in the back left corner of the table. The box is closed.",
+        "There is a drawer on the shelf in the right area of the table. The drawer is closed.",
+        "There is a roll of tape under the shelf in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is a lamp in the front left area of the table. The lamp is on.",
+        "The power plug of the lamp is plugged into the power strip."
+    ],
+    "recipe": [
+        "The lamp is off and the power supply of the lamp is removed.",
+        "The pencil and the stapler is stored in the drawer for security.",
+        "The drawer, the pencil sharpener, the tape and the sheets of paper are stored inside the box."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ca062416eb7a35d53f56b887bbcbd29c0fcd73
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is some sheets of paper in the left area of the table.",
+        "There is a lamp in the front left area of the table. The lamp has been turned off.",
+        "The power plug of the lamp is unplugged and located in the right area of the table.",
+        "There is a multi-socket power strip in the right area of the table.",
+        "There is a box in the front right corner of the table. The box is closed.",
+        "The box contains a plastic flower, a blunt pencil and a pencil sharpener.",
+        "There is an empty vase in the front area of the table."
+    ],
+    "recipe": [
+        "The lamp is powered and turned on for illumination.",
+        "The plastic flower is placed into the vase as a sample under lighting.",
+        "The flower shape is designed and drawn on the paper with the sharpened pencil under lighting."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b82da0faea3a37e017962d96e2f1fd2a6939f6
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a mouse in the center of the table.",
+        "There is a usb hub connected to the laptop for peripherals.",
+        "The usb receiver of the mouse is inserted into the usb hub.",
+        "There is a multi-socket power stip in the right area of the table.",
+        "The power plug of the laptop is plugged into the power strip.",
+        "There is a drawer on the shelf in the front right corner of the table. The drawer is closed."
+    ],
+    "recipe": [
+        "Remove the usb receiver of the mouse and store the mouse in the drawer.",
+        "Power off the laptop, close the laptop lid and remove the power supply of the laptop."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dbd4e91ca8546c7a7adf1baaa0b706a75be50fa
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json
@@ -0,0 +1,18 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a lamp in the front area of the table. The lamp is on.",
+        "There is a multi-socket power strip in the front right area of the table.",
+        "There is a usb connector of the laptop's power supply inserted into the laptop.",
+        "The power plug of the laptop's power adapter has been plugged into the power strip.",
+        "There is a box in the right area of the table. The box is closed.",
+        "There is a drawer stored inside the box. The drawer is closed.",
+        "There is also a gamecontroler inside the box, on top of the drawer.",
+        "There is a mouse in the center of the table."
+    ],
+    "recipe": [
+        "The mouse is stored in the drawer inside the box for secure storage.",
+        "The laptop's power supply is removed by deconnecting and unplugging the power adapter and its lid is cloesd.",
+        "The lamp is turned off."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b49392893f8ad9dd17e4513a251b7c8f5b4df2
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is a piece of paer in the center of the table.",
+        "There is a box in the center of the table. The box is closed.",
+        "There is a blunt pencil in the center of the table.",
+        "There is a pencil sharpener in the back left area of the table.",
+        "There is a stapler in the left area of the table.",
+        "There is a whiteboard pen in the center of the table.",
+        "There is a whiteboard eraser in the left area of the table.",
+        "There is a whiteboard in the front left area of the table.",
+        "There is a shelf in the right area of the table."
+    ],
+    "recipe": [
+        "Erase everything on the whiteboard.",
+        "The blunt pencil is sharpened for future usage.",
+        "The pencil, the pencil sharpener and the stapler are securely stored inside the box.",
+        "The whiteboard pen and the whiteboard eraser are rearranged onto the shelf for future usage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e5b00381ab3bc14dd1e04e4b3dbe45ce2f5b3ce
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table.",
+        "There is a gamecontroler in the back area of the table.",
+        "There is a lamp in the left area of the table. The light is on.",
+        "There is a multi-socket power strip in the front right area of the table.",
+        "The power plug of the laptop's power adapter is plugged into the power strip.",
+        "There is a usb connector of the laptop's power supply inserted into the laptop.",
+        "There is a box in the back right area of the table. The box is closed.",
+        "There is a drawer stored inside the box. The drawer is closed."
+    ],
+    "recipe": [
+        "The gamecontroler is stored inside the box.",
+        "The laptop's power supply is removed by deconnecting and unplugging the power adapter and its lid is cloesd.",
+        "The lamp is turned off."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d9b4867a85d702d74344fa0d202697c08b931b5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a whiteboard in the front left area of the table.",
+        "There is a whiteboard pen on the shelf in the right area of the table.",
+        "There is a whiteboard eraser on the shelf in the right area of the table.",
+        "There is a box in the back left corner of the table. The box is closed.",
+        "There is a blunt pencil, a pencil sharpener, and a stapler inside the box."
+    ],
+    "recipe": [
+        "The prototype of the shape is designed first on the whiteboard.",
+        "The shape is drawn onto the paper with the sharpened pencil.",
+        "The paper with the drawn shape is bound together into album with the stapler.",
+        "Everything about the prototype is erased after the designing, drawing and paper binding is completed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dfd7e5f49a7a8a06424d9871ba4ed958d2fd119
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is a paper that has a designed flower shape on it.",
+        "There is a box in the back right area of the table. The box is closed.",
+        "There is a whiteboard in the front right area of the table.",
+        "There is a whiteboard eraser in the right area of the table.",
+        "There is a multi-socket power strip in the front area of the table.",
+        "There is a whiteboard pen in the left area of the table.",
+        "There is a vase with a plastic flower in it in the front area of the table.",
+        "There is a lamp in the left area of the table.",
+        "The power plug of the lamp has been plugged into the multi-socket power strip."
+    ],
+    "recipe": [
+        "The whiteboard, the whiteboard pen and the whiteboard eraser are all stored inside the box.",
+        "The lamp is turned off and its power supply is removed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..a07ed2d4a63a06f81f28a48ffd72f5c1d045e111
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the back left area of the table.",
+        "There is a lamp in the front area of the table. The lamp is off.",
+        "There is a multi-socket power strip in the front right area of the table.",
+        "The laptop's power plug is unplugged and located in the right area of the table.",
+        "There is a box in the back right corner of the table. The box is closed.",
+        "There is a drawer and a gamecontroler inside the box. The drawer is closed.",
+        "There is a mouse inside the drawer."
+    ],
+    "recipe": [
+        "The lamp is turned on ahead of any further activities.",
+        "The laptop lid is opened and the laptop is powered throught the power adapter.",
+        "The mouse is used for work under good lighting conditions."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..66332c06754d090240a53196675cf352f290b814
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is an empty vase in the front area of the table.",
+        "There is a pair of scissors in the center of the table.",
+        "There is a pencil in the front area of the table.",
+        "There is a whiteboard in the front left area of the table.",
+        "There is a whiteboard eraser on the shelf in the right area of the table.",
+        "There is a whiteboard pen on the shelf in the right area of the table.",
+        "There is a blunt pencil sharpener on the shelf in the right area of the table.",
+        "There is a box in the back left corner of the table. The box is closed.",
+        "The box contains a plastic flower that serves as a model of the designing."
+    ],
+    "recipe": [
+        "The flower is placed inside the vase, serving as a model of the designing and drawing.",
+        "The prototype of the flower icon is designed on the whiteboard, a refined version of the flower icon is drawn on the paper as auxiliary lines for paper-cutting with a sharpened pencil, and then the flower icon is cut out from the paper with the scissors.",
+        "Everything about the prototype is erased after the designing, drawing and paper shearing is completed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..9882913390f4434bd0614950aeffb26bab77f34c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a drawer in the back left corner of the table. The drawer is closed.",
+        "The drawer contains a whiteboard eraser and a whiteboard pen.",
+        "There is an empty vase in the front area of the table.",
+        "There is a box in the back right area of the table.",
+        "The box contains a plastic flower, a pencil sharpener and a blunt pencil.",
+        "There is a lamp in the front left area of the table. The lamp has been turned off.",
+        "There is a multi-socket power strip in the front area of the table.",
+        "The power plug of the lamp has been unplugged and is located in the front area of the table.",
+        "There is a whiteboard in the front right area of the table."
+    ],
+    "recipe": [
+        "The lamp is powered and turned on for illumination ahead of further activities.",
+        "The flower is placed inside the vase, serving as a model of the designing and drawing.",
+        "The prototype of the flower icon is designed on the whiteboard, and then a refined version of the flower icon is drawn on the paper with a sharpened pencil.",
+        "Everything about the prototype is erased after the designing and drawing is completed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b8ab421d54e493a010ba45c1b5fe823b5446c4
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
@@ -0,0 +1,22 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a pencil in the center of the table.",
+        "There is a whiteboard pen in the center of the table.",
+        "There is a whiteboard eraser in the front area of the table.",
+        "There is a pencil sharpener in the front area of the table.",
+        "There is a vase with a plastic flower inside it in the front area of the table.",
+        "There is a whiteboard in the front right area of the table.",
+        "There is a drawer in the back left corner of the table. The drawer is closed.",
+        "There is a box in the back left area of the table. The box is closed.",
+        "There is a lamp in the left area of the table. The lamp is on.",
+        "There is a multi-socket power strip in the front area of the table.",
+        "The power plug of the lamp has been plugged into the power strip."
+    ],
+    "recipe": [
+        "Everything on the whiteboard is erased.",
+        "The whiteboard eraser and the whiteboard pen are stored inside the drawer.",
+        "The pencil and the pencil sharpener are stored inside the box.",
+        "The lamp is turned off and its power supply is removed."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a0dd4a58affacb0fdc559c33a71a7821db3b23a
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a flower-shaped piece of paper in the center of the table.",
+        "There is a vase that contains a flower serving as the model of the designing.",
+        "There is a pencil in the front area of the table.",
+        "There is a pair of scissors in the front area of the table.",
+        "There is a blunt pencil sharpener in the right area of the table.",
+        "There is a box in the left area of the table. The box is closed.",
+        "There is a shelf in the right area of the table."
+    ],
+    "recipe": [
+        "The plastic flower is placed into the box for proper storage.",
+        "The scissors are stored inside the box.",
+        "The blunt pencil is sharpend for next usage, and it is placed on the shelf together with the pencil sharpener."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..e455e10c9c2abc6bd9db232fcbc5b188583d27d4
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a lamp in the front left area of the table. The lamp is off.",
+        "There is a vase that has a plastic flower inside it in the front area of the table. The flower serves as a model of the drawing.",
+        "There is a multi-socket power strip in the front area of the table.",
+        "The power plug of the lamp has been unplugged and is located in the right area of the table.",
+        "There is a box in the back right area of the table. The box is closed.",
+        "There is a whiteboard, a whiteboard eraser, and a whiteboard pen inside the box."
+    ],
+    "recipe": [
+        "The lamp is powered and turned on for illumination ahead of further activities.",
+        "Design a flower shape on the whiteboard, and draw the designed shape on the paper.",
+        "Erase everything on the whiteboard after shearing the paper."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f822496b90ac3b15f10c69d31150beaa04bd27e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a sheet of paper in the center of the table.",
+        "There is a lamp in the front left area of the table.",
+        "There is a drawer in the front area of the table. The drawer is closed.",
+        "There is a stapler inside the drawer.",
+        "There is a multi-socket power strip in the front area of the table.",
+        "The lamp's power plug is unplugged and located in the front area of the table.",
+        "There is a box in the right area of the table.",
+        "There is a pair of scissors inside the box."
+    ],
+    "recipe": [
+        "The lamp is powered and turned on for illumination.",
+        "The paper is sheared into two halves and the two paper pieces are bound together under the lamp's lighting."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..0715a1797f7756a70689724c8b4164028ca76524
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json
@@ -0,0 +1,18 @@
+{
+    "initial_condition": [
+        "There is a closed laptop in the center of the table.",
+        "The power plug of the laptop power adapter in the left area of the table.",
+        "There is a multi-socket power strip in the left area of the table.",
+        "There is a lamp in the left area of the table. The lamp has power input, but the lightbulb of the lamp has already been removed due to malfunctioning.",
+        "There is a box in the back right corner of the table. The box is closed.",
+        "The box contains a gamecontroler.",
+        "There is also a drawer stored inside the box. The drawer is closed.",
+        "The drawer contains a mouse and a new lightbulb for replacement."
+    ],
+    "recipe": [
+        "The replacement bulb is installed in the lamp and the table is illuminated.",
+        "The laptop lid is open and the laptop is powered through its power adapter.",
+        "The gamecontroler is used for entertainment in a well-lit environment.",
+        "The drawer is properly stored."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..2262acfc2edba74ccd221b7f560aa7452a141cd3
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
@@ -0,0 +1,11 @@
+{
+    "initial_condition": [
+        "There is a piece of paper in the center of the table.",
+        "There is a pair of scissors in the center of the table.",
+        "There is a vase with a plastic flower that serves a model of the designing in the front area of the table.",
+        "There is a box that contains a blunt pencil and a pencil sharpener in the back left corner of the table. The box is closed."
+    ],
+    "recipe": [
+        "Design and draw the flower shape on the paper with the sharpened pencil, and then cut out the flower shape with the scissors."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..9924dac1fbe5625e6a8da69af3764c91c08c40b2
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is a whiteboard in the center of the table.",
+        "There is a whiteboard eraser in the right area of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ded4dee56b7c267804ea6511e719c5f0bee3b4
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is a usb hub in the center of the table.",
+        "The usb hub has a usb stick connected to it."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cbda5e47993614379fa8c12c6eaca598cfb420d
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is a usb hub in the center of the table.",
+        "There is a usb stick in the center of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a419d19b95109b4644a12340792f9756a2e77e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json
@@ -0,0 +1,6 @@
+{
+    "initial_condition": [
+        "There is an opened laptop in the center of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3336cb2a98f81433df2558c2952c185ca24cf624
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is a laptop in the center of the table.",
+        "There is a usb stick in the left area of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..9924dac1fbe5625e6a8da69af3764c91c08c40b2
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json
@@ -0,0 +1,7 @@
+{
+    "initial_condition": [
+        "There is a whiteboard in the center of the table.",
+        "There is a whiteboard eraser in the right area of the table."
+    ],
+    "recipe": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c28e2392a61c23b4cda94e342d3a2e99ae7df69
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance B is first shaked to mix up then heated on alcohol burner to generate experiment substance C.",
+        "Experiment substance C is mixed into experiment substance A to generate experiment substance D."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..0485800f1537916e2083b9d4859f656889aabc3f
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a beaker that contains a mixture of experiment substance A in the front area of the table.",
+        "There is a test tube rack in the front area of the table.",
+        "There is two empty test tubes on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred into one test tube.",
+        "Repeat pouring experiment substance A between two test tubes four times until it is fully mixed and generate experiment substance B.",
+        "Transfer the experiment substance B back into experiment substance A to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fcb4cb1a69a218841db2340654706dd728c127
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
@@ -0,0 +1,18 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a test tube rack in the front right area of the table.",
+        "There is an empty test tube on the test tube rack.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the front area of the table."
+    ],
+    "recipe": [
+        "Experiment substance B is mixed into experiment substance A to generate experiment substance C.",
+        "Experiment substance C is heated while stirring to generate experiment substance D.",
+        "Experiment substance D is transferred to the target test tube."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e8c0c5c21bfb10fda5fe483e551a8b86877041
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is heated to generate experiment substance C.",
+        "Experiment substance C is mixed into experiment substance B to generate experiment substance D."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc34ee1b397218a526c5e61fc9abf3e8dce8e57e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a test tube holder in the right area of the table.",
+        "There is a test tube rack in the front area of the table.",
+        "There is an empty test tube on the test tube rack.",
+        "There is a conical flask that contains experiment substance A in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance A if transferred to the test tube for heating.",
+        "Experiment substance A is heated in the test tube with the test tube holder to generate experiment substance B.",
+        "Experiment substance B is mixed back into experiment substance A and the mixture of experiment substance A and B is shaked to generate high concentration solution C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4965fdc5e5122ed2e5518e9c5ec993dbadc1374
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance B is mixed into A.",
+        "The mixture of experiment substance A and B is heated to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..20adbefcb2c58a55cda15642783c32301f493ff2
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a test tube rack in the front right area of the table.",
+        "There is an empty test tube on the test tube rack.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a glass rod in the front area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a capped alcohol burner in the front right area of the table."
+    ],
+    "recipe": [
+        "Experiment substance is heated while stiring to generate solution B.",
+        "Solution B is transferred into the test tube"
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6993d9d515248347d4382638d8c84c3ecba7be5
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a test tube holder in the front right area of the table.",
+        "There is a test tube rack in the front area of the table.",
+        "There is a test tube that contains experiment substance A on the test tube rack.",
+        "There is a beaker that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the front area of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is shaked and heated with alcohol burner to generate experiment substance C.",
+        "Experiment substance B is mixed into experiment substance C to generate experiment substance D.",
+        "Experiment substance D is mixed back into experiment substance B to generate experiment substance E."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..c87695fabb06e374c23774c9f95a374876945487
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance B is heated while stirring to generate experiment substance C.",
+        "Experiment substance C is mixed with experiment substance A to generate experiment substance D."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..a262631de54cb58f4af3ee3b2603823bd078f058
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a test tube holder in the right area of the table.",
+        "There is a test tube rack in the front area of the table.",
+        "There is a test tube that contains experiment substance B on the test tube rack.",
+        "There is a tripod in the front area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is heated while stiring to generate experiment substance C.",
+        "Experiment substance B in the test tube is mixed into experiment substance C to generate solution D."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..3979a8407fbd5033a42458457801421a2337a687
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a capped alcohol burner in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a glass rod in the center of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table."
+    ],
+    "recipe": [
+        "Experiment substance B is mixed into A.",
+        "The mixture of experiment substance A and B is heated to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c253cd135793b4279e950e67a607147fbf32b4
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
@@ -0,0 +1,17 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a test tube holder in the right area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a test tube rack in the front right area of the table.",
+        "There is an empty test tube on the test tube rack.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance A if transferred to the test tube for heating.",
+        "Experiment substance A is heated in the test tube with the test tube holder to generate experiment substance B.",
+        "Experiment substance B is mixed back into experiment substance A and the mixture of experiment substance A and B is stirred to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9823c15583e2cb400302fb687017e2652b2ffe19
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
@@ -0,0 +1,15 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a conical flask that contains experiment substance B in the front area of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is stirred and mixed into experiment substance.",
+        "The mixture of experiment substance A and B is heated to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b2643b6eb79874297e6ca9bb87ae1c0a73925dd
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the back left area of the table.",
+        "There is a glass rod in the back area of the table.",
+        "There is a test tube holder in the right area of the table.",
+        "There is a test tube rack in the front area of the table.",
+        "There is an empty test tube on the test tube rack.",
+        "There is a beaker that contains experiment substance A in the front area of the table.",
+        "There is a capped alcohol burner in the front left area of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is shaked and transfered into the test tube.",
+        "Experiment substance A is heated in the test tube with the holder and the burner to generate experiment substance B.",
+        "Experiment substance B is mixed back into experiment substance A to generate a high concentration solution C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2dcf131d603746cf7d684be9e1c423dfa2f4ffd
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is an ignitor on the shelf in the right area of the table.",
+        "There is a beaker that contains experiment substance A in the left area of the table.",
+        "There is a conical flask that contains experiment substance B in the left area of the table.",
+        "There is a test tube rack in the front left area of the table.",
+        "There is a glass rod on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is stirred and mixed into experiment substance B. Repeat this process twice to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cfe1fd32ae48bf97a6353acb6cc22a8d2ede353
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a beaker that contains experiment substance A in the left area of the table.",
+        "There is a test tube rack in the front left area of the table.",
+        "There are two empty test tubes on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred into one test tube.",
+        "Repeat pouring experiment substance A between two test tubes three times until it is fully mixed and generate experiment substance B.",
+        "Transfer the experiment substance B back into experiment substance A to generate experiment substance C."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..738c87d46b1fadd11ea4b0070ef097c4a2e69382
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty conical flask on the shelf in the right area of the table.",
+        "There is an empty beaker on the shelf in the right area of the table.",
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is an ignitor in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the center of the table.",
+        "There is a capped alcohol burner in the center of the table.",
+        "There is a test tube holder in the back left area of the table.",
+        "There is a test tube rack in the left area of the table.",
+        "There is a glass rod and an empty test tube on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred from the bottle to the beaker.",
+        "Experiment substance A is heated in the beaker while stirring to generate solution B.",
+        "Solution B is transferred into the conical flask."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..caada5a41b03f670ad4951ce7d2b34249393699c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty conical flask on the shelf in the right area of the table.",
+        "There is an empty beaker on the shelf in the right area of the table.",
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is an ignitor in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a capped alcohol burner in the left area of the table.",
+        "There is a test tube holder in the back left area of the table.",
+        "There is a test tube rack in the left area of the table.",
+        "There is a glass rod and an empty test tube on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred from the bottle to the beaker, and then transferred into the test tube for heating.",
+        "Experiment substance A is heated in the test tube to generate experiment substance B.",
+        "Transfer experiment substance B into the conical flask."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e9a46e8c79c4ae5212c575acbac9843f106aa7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a green and yellow striped bottle that contains experiment substance B on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a tripod that has an asbestos mesh placed onto in the front area of the table.",
+        "There is a capped alcohol burner in the front area of the table.",
+        "There is an empty beaker and an empty conical flask in the left area of the table.",
+        "There is a test tube rack in the front left area of the table.",
+        "There is a glass rod and an empty test tube on the test tube rack.",
+        "There is an ignitor in the left area of the table.",
+        "There is a test tube holder in the left area of the table."
+    ],
+    "recipe": [
+        "Transfer experiment substance A into the test tube for heating.",
+        "Experiment substance A is heated within the test tube, and then mixed into experiment substance B in the beaker to generate experiment substance C.",
+        "Experiment substance C is heated within the beaker while stiring to generate solution D.",
+        "The containers are secure sealed after solution preparation."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..183f3a317a197a30626271a423fe9fb1c21a7e5e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a capped alcohol burner in the left area of the table.",
+        "There is a beaker that contains experiment substance A in the left area of the table.",
+        "There is a tripod in the center of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is an ignitor in the right area of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is heated in the beaker to generate experiment substance B."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..caada5a41b03f670ad4951ce7d2b34249393699c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json
@@ -0,0 +1,19 @@
+{
+    "initial_condition": [
+        "There is an empty conical flask on the shelf in the right area of the table.",
+        "There is an empty beaker on the shelf in the right area of the table.",
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is an ignitor in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the front area of the table.",
+        "There is a capped alcohol burner in the left area of the table.",
+        "There is a test tube holder in the back left area of the table.",
+        "There is a test tube rack in the left area of the table.",
+        "There is a glass rod and an empty test tube on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred from the bottle to the beaker, and then transferred into the test tube for heating.",
+        "Experiment substance A is heated in the test tube to generate experiment substance B.",
+        "Transfer experiment substance B into the conical flask."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce6ab83fe00f36c8380ea92adb193fab9610af85
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json
@@ -0,0 +1,16 @@
+{
+    "initial_condition": [
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a green and yellow striped bottle that contains experiment substance B on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a tripod in the front area of the table.",
+        "There is an asbestos mesh in the front area of the table.",
+        "There is a capped alcohol burner in the front area of the table.",
+        "There is an empty beaker and an empty conical flask in the front left area of the table.",
+        "There is a table rack in the front left area of the table.",
+        "There is an ignitor in the left area of the table."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred into the conical flask, shaked to mix up and then heated on the alcohol burner to generate experiment substance C.",
+        "Experiment substance C and experiment substance B are mixed in the beaker and stirred until fully dissolves to obtain solution D."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..e247f95b0380dfbf02ae45bf86b26d29d1789a61
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a test tube holder in the right area of the table.",
+        "There is a capped alcohol burner alcohol burner.",
+        "There is a test tube rack in the front left area of the table.",
+        "There is a test tube that contains experiment substance A on the test tube rack."
+    ],
+    "recipe": [
+        "Heat experiment substance A in the test tube with the holder.",
+        "Put off alcohol burner after heating for security and fuel saving."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..8136f438caf57d2bef4eadcef802e65ef125a551
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is a test tube holder in the right area of the table.",
+        "There is an empty beaker in the center of the table.",
+        "There is an uncapped alcohol burner in the center of the table. The cap of the burner is next to its base.",
+        "There is a test tube rack in the front left area of the table.",
+        "There is a test tube that contains experiment substance A on the test tube rack.",
+        "There is another test tube that contains experiment substance B on the tool rack."
+    ],
+    "recipe": [
+        "Experiment substance A is shaked and heated in the test tube and transferred into experiment substance B.",
+        "The mixture of heated experiment substance A and experiment substance B is transferred to the beaker for reaction."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f888815712b530f4b7a80ddcc8c34298f5b68bc
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is a beaker that contains experiment substance A in the center of the table.",
+        "There is a tripod that has an asbestos mesh placed onto it in the center of the table.",
+        "There is a capped alcohol burner in the center of the table."
+    ],
+    "recipe": [
+        "Heat experiment substance A.",
+        "Put off alcohol burner after heating for security and fuel saving."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..72513bfd538430482b08051cfeea81feea27c3a3
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
@@ -0,0 +1,20 @@
+{
+    "initial_condition": [
+        "There is an empty conical flask on the shelf in the right area of the table.",
+        "There is an empty beaker on the shelf in the right area of the table.",
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is an ignitor in the right area of the table.",
+        "There is an asbestos mesh in the front right area of the table.",
+        "There is a tripod in the center of the table.",
+        "There is a capped alcohol burner in the left area of the table.",
+        "There is a test tube holder in the back left area of the table.",
+        "There is a test tube rack in the left area of the table.",
+        "There is a glass rod and an empty test tube on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is transferred from the bottle to the beaker.",
+        "Experiment substance A is heated in the beaker while stirring to generate solution B.",
+        "Solution B is transferred into the conical flask.",
+        "The bottle that contains experiment substance A is properly sealed for secure storage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d187b27221c39b30b5f15a11c070a2e890ab218
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
@@ -0,0 +1,12 @@
+{
+    "initial_condition": [
+        "There is a beaker that contains experiment substance A in the center of the table.",
+        "There is a glass rod in the right area of the table.",
+        "There is a test tube rack in the left area of the table.",
+        "There is an empty test tube on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A is stirred to mix up and then transferred to the test tube.",
+        "Experiment substance A is further mixed up in the test tube through shaking."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90a4fb13a4dcba270e48a9aefd26b563dbb287c
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is a large white narrow-mouth bottle that contains experiment substance A on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a green and yellow striped bottle that contains experiment substance B on the shelf in the right area of the table. The bottle is securely sealed.",
+        "There is a conical flask that contains experiment substance C in the front area of the table.",
+        "There is an empty beaker in the center of the table.",
+        "There is a test tube rack in the front right area of the table.",
+        "There is a glass rod on the test tube rack."
+    ],
+    "recipe": [
+        "Experiment substance A and experiment substance B are mixed util experiment substance B fully dissolves and solution D is generated.",
+        "Divide experiment substance C into three portions, and while stirring gradually add each portion into solution D to obtain solution E."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2d2388f5751f15a9c809d1e9a6c84eb1f2ff61
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
@@ -0,0 +1,13 @@
+{
+    "initial_condition": [
+        "There is an uncapped and ignited alcohol burner in the center of the table.",
+        "The alcohol burner is placed under the tripod with the asbestos mesh on it.",
+        "There is a beaker being heated that contains experiment substance A placed on the asbestos mesh.",
+        "There is a test tube rack in the left area of the table.",
+        "There is an empty test tube on the test tube rack."
+    ],
+    "recipe": [
+        "Stop heating the beaker as the reaction completes and put off the alcohol burner of safety and fuel saving.",
+        "Heated experiment substance A is furthre mixed up and transfered into the test tube."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbe32bb5b29177f03f32442e8731388dfb5d926
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json
@@ -0,0 +1,8 @@
+{
+    "initial_condition": [
+        "There is an uncapped and ignited alcohol burner in the center of the table. The alcohol burner cap is next to the base."
+    ],
+    "recipe": [
+        "Put off the alcohol burner with its cap for safety and fuel saving."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..75670013769339d0c3d258c234690ba2e795701f
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the center of the table.",
+        "There is an uncapped alcohol burner in the center of the table. The cap of the alcohol burner is next to its base."
+    ],
+    "recipe": [
+        "Ignite the alcohol burner then put it off."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json b/raw/oakinkv2/program/initial_condition_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8e295692796a17882e0d0c01fdb903f4a558adc
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
@@ -0,0 +1,14 @@
+{
+    "initial_condition": [
+        "There is an ignitor in the right area of the table.",
+        "There is an asbestos mesh in the center of the table.",
+        "There is a tripod in the center of the table.",
+        "There is a test tube rack in the front left area of the table.",
+        "There is a glass rod on the test tube rack.",
+        "There is a beaker that contains experiment substance A in the left area of the table.",
+        "There is a capped alcohol burner in the left area of the table/"
+    ],
+    "recipe": [
+        "Experiment substance A, the reactant, is stirred and heated for reaction."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a53285422a5769abaa7dd9a87d9fbcc620673f7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush in the center of the table.",
+        "There is a toothpaste tube that contains tooth paste in the center of the table."
+    ],
+    "recipe": [
+        "Squeeze toothpaste onto the toothbrush and place the toothbrush onto the mug for toothbrushing."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ebbb05ea8b378366c942fb77a1cd5c46084d22e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush placed on the orange mug."
+    ],
+    "recipe": [
+        "Place the toothbrush inside the mug for storage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a53285422a5769abaa7dd9a87d9fbcc620673f7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush in the center of the table.",
+        "There is a toothpaste tube that contains tooth paste in the center of the table."
+    ],
+    "recipe": [
+        "Squeeze toothpaste onto the toothbrush and place the toothbrush onto the mug for toothbrushing."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a53285422a5769abaa7dd9a87d9fbcc620673f7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush in the center of the table.",
+        "There is a toothpaste tube that contains tooth paste in the center of the table."
+    ],
+    "recipe": [
+        "Squeeze toothpaste onto the toothbrush and place the toothbrush onto the mug for toothbrushing."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ebbb05ea8b378366c942fb77a1cd5c46084d22e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush placed on the orange mug."
+    ],
+    "recipe": [
+        "Place the toothbrush inside the mug for storage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ebbb05ea8b378366c942fb77a1cd5c46084d22e
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
@@ -0,0 +1,9 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush placed on the orange mug."
+    ],
+    "recipe": [
+        "Place the toothbrush inside the mug for storage."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a53285422a5769abaa7dd9a87d9fbcc620673f7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush in the center of the table.",
+        "There is a toothpaste tube that contains tooth paste in the center of the table."
+    ],
+    "recipe": [
+        "Squeeze toothpaste onto the toothbrush and place the toothbrush onto the mug for toothbrushing."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/initial_condition_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json b/raw/oakinkv2/program/initial_condition_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a53285422a5769abaa7dd9a87d9fbcc620673f7
--- /dev/null
+++ b/raw/oakinkv2/program/initial_condition_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
@@ -0,0 +1,10 @@
+{
+    "initial_condition": [
+        "There is an orange mug in the center of the table.",
+        "There is a toothbrush in the center of the table.",
+        "There is a toothpaste tube that contains tooth paste in the center of the table."
+    ],
+    "recipe": [
+        "Squeeze toothpaste onto the toothbrush and place the toothbrush onto the mug for toothbrushing."
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0920e7f06cc414769a0723e93ddb9f16ae6959
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json
@@ -0,0 +1,22 @@
+{
+    "id_map": {
+        "(None, (966, 5954))": 0,
+        "(None, (7815, 8720))": 1,
+        "(None, (8976, 9784))": 2
+    },
+    "v": [
+        0,
+        1,
+        2
+    ],
+    "e": [
+        [
+            0,
+            1
+        ],
+        [
+            0,
+            2
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59dba610c653110799570abeb9d73b597b646cf
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "((1431, 4025), (1431, 4025))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c98bcfdfa6a184347296d9cb1c8b582e40ee91a1
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json
@@ -0,0 +1,28 @@
+{
+    "id_map": {
+        "(None, (1095, 1467))": 0,
+        "((1595, 2340), None)": 1,
+        "(None, (2336, 2840))": 2,
+        "(None, (3228, 5634))": 3
+    },
+    "v": [
+        0,
+        1,
+        2,
+        3
+    ],
+    "e": [
+        [
+            0,
+            1
+        ],
+        [
+            1,
+            2
+        ],
+        [
+            2,
+            3
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd1a08ec46ebf571423e033ef6b3056848d41ce9
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "((1059, 6010), (1767, 5962))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ba1c9074e467bdeaf84319bd2eb197a10be370
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
@@ -0,0 +1,16 @@
+{
+    "id_map": {
+        "(None, (1091, 4345))": 0,
+        "(None, (4737, 7310))": 1
+    },
+    "v": [
+        0,
+        1
+    ],
+    "e": [
+        [
+            0,
+            1
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72778effd14f3d230516909e70a9e44cfd7efec
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json
@@ -0,0 +1,16 @@
+{
+    "id_map": {
+        "(None, (1445, 4027))": 0,
+        "(None, (4256, 7182))": 1
+    },
+    "v": [
+        0,
+        1
+    ],
+    "e": [
+        [
+            0,
+            1
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..8341ebf6a1ee3bbc3e1ceda2d0ba214031229a9e
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "(None, (1307, 4338))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5803e02da7819310af4d826630ee0463550430f
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "((1746, 3852), (1334, 3880))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c996c6f9ef5ea4f7a6e9e0899d22debe1520dea
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
@@ -0,0 +1,16 @@
+{
+    "id_map": {
+        "(None, (1129, 3599))": 0,
+        "(None, (3811, 7061))": 1
+    },
+    "v": [
+        0,
+        1
+    ],
+    "e": [
+        [
+            0,
+            1
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca82f573c2ff0d366572e6271f3c5d0186801abf
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "(None, (1006, 3488))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a48c92842e77f56a8f2d7416323cc20d022bbe
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json
@@ -0,0 +1,5 @@
+{
+    "id_map": {},
+    "v": [],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..967a09442fc26c6eef9d0e34890eba273994789e
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
@@ -0,0 +1,54 @@
+{
+    "id_map": {
+        "(None, (798, 955))": 0,
+        "(None, (991, 1059))": 1,
+        "(None, (1111, 1159))": 2,
+        "(None, (1375, 2011))": 3,
+        "(None, (2207, 2256))": 4,
+        "(None, (3056, 3769))": 5,
+        "(None, (4309, 4361))": 6
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+        2,
+        3,
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+    "e": [
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+        ],
+        [
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+        [
+            1,
+            3
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+            2
+        ],
+        [
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+        [
+            3,
+            4
+        ],
+        [
+            4,
+            5
+        ],
+        [
+            5,
+            6
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..22368c44accfdb0dd13b791863c6bd4f65203102
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "((1106, 3567), (1198, 3579))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..540cc8c4ddd7c46272ffde6f7d772ae1699ad567
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "((1336, 4211), (1264, 4211))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa7666cd457f005e3f2912b0e0e862c1678d5645
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
@@ -0,0 +1,16 @@
+{
+    "id_map": {
+        "(None, (1151, 4261))": 0,
+        "(None, (4586, 6639))": 1
+    },
+    "v": [
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+        1
+    ],
+    "e": [
+        [
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+            1
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbbe70690ab77def95ea94c1fffe061cc79841c
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json
@@ -0,0 +1,16 @@
+{
+    "id_map": {
+        "(None, (992, 3710))": 0,
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+    "v": [
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+    "e": [
+        [
+            0,
+            1
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
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+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json
@@ -0,0 +1,9 @@
+{
+    "id_map": {
+        "(None, (1363, 4161))": 0
+    },
+    "v": [
+        0
+    ],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json
@@ -0,0 +1,16 @@
+{
+    "id_map": {
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8ac12113ad505c02594fc94bcae7a7a4ee8e6e
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json
@@ -0,0 +1,9 @@
+{
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
@@ -0,0 +1,16 @@
+{
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json
@@ -0,0 +1,9 @@
+{
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json b/raw/oakinkv2/program/pdg/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json
new file mode 100644
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@@ -0,0 +1,16 @@
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new file mode 100644
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@@ -0,0 +1,52 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json
new file mode 100644
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@@ -0,0 +1,16 @@
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new file mode 100644
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@@ -0,0 +1,22 @@
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new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
@@ -0,0 +1,70 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d4c2e23f78fe4bbd7c32a00c670f90248bc5ef
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@@ -0,0 +1,60 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..0116a6226ca610e2f513658dd8c6e70aed135c5a
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json
new file mode 100644
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@@ -0,0 +1,16 @@
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new file mode 100644
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@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
new file mode 100644
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@@ -0,0 +1,64 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json
new file mode 100644
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@@ -0,0 +1,22 @@
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json
@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
new file mode 100644
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@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json
new file mode 100644
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@@ -0,0 +1,52 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json b/raw/oakinkv2/program/pdg/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json b/raw/oakinkv2/program/pdg/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json b/raw/oakinkv2/program/pdg/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json
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new file mode 100644
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@@ -0,0 +1,16 @@
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new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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@@ -0,0 +1,24 @@
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new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json b/raw/oakinkv2/program/pdg/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json
new file mode 100644
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new file mode 100644
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json b/raw/oakinkv2/program/pdg/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json b/raw/oakinkv2/program/pdg/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json b/raw/oakinkv2/program/pdg/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json b/raw/oakinkv2/program/pdg/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json b/raw/oakinkv2/program/pdg/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json b/raw/oakinkv2/program/pdg/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json b/raw/oakinkv2/program/pdg/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json b/raw/oakinkv2/program/pdg/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json
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diff --git a/raw/oakinkv2/program/pdg/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json b/raw/oakinkv2/program/pdg/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,56 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebc0ccdecd8df47c9d52701ccf50a31548dac32d
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee276bcab80989177def6baea33f162eca5d5814
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a863c1fd70ea7452b37a8fa30064094104ccbe92
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+++ b/raw/oakinkv2/program/pdg/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json
@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..915e4ea1bcff0b5b6ef7cfc4ae26856a543ce881
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json
new file mode 100644
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
new file mode 100644
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@@ -0,0 +1,66 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
new file mode 100644
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@@ -0,0 +1,96 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff921f3e4da8901df15e309df66832f2224da837
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
new file mode 100644
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@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json
new file mode 100644
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@@ -0,0 +1,22 @@
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\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
new file mode 100644
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@@ -0,0 +1,54 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
new file mode 100644
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@@ -0,0 +1,38 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json b/raw/oakinkv2/program/pdg/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..9503cf34e71ae7fd2819f28b6aa34dfd9709efaf
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+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json
@@ -0,0 +1,22 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json
@@ -0,0 +1,22 @@
+{
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c46043691000ba17f7bd1db8c2ed038fcd1b098
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@@ -0,0 +1,22 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json
@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff94f3629f4fcab9b0d2b389715181f1bf36a79a
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@@ -0,0 +1,16 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ae055e3d880183b45be8499d825e13f9232b35
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json
@@ -0,0 +1,9 @@
+{
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json
@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json
@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json
new file mode 100644
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@@ -0,0 +1,9 @@
+{
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json b/raw/oakinkv2/program/pdg/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json
@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json
@@ -0,0 +1,9 @@
+{
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json
new file mode 100644
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@@ -0,0 +1,9 @@
+{
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
@@ -0,0 +1,76 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
new file mode 100644
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@@ -0,0 +1,46 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,76 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json b/raw/oakinkv2/program/pdg/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
new file mode 100644
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@@ -0,0 +1,54 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json
@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
new file mode 100644
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@@ -0,0 +1,30 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
new file mode 100644
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@@ -0,0 +1,70 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json
new file mode 100644
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@@ -0,0 +1,48 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
new file mode 100644
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@@ -0,0 +1,52 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json
@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json
new file mode 100644
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@@ -0,0 +1,34 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json
@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json
new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json b/raw/oakinkv2/program/pdg/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json
new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json b/raw/oakinkv2/program/pdg/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json
new file mode 100644
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@@ -0,0 +1,16 @@
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new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json
new file mode 100644
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@@ -0,0 +1,32 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json b/raw/oakinkv2/program/pdg/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff6d1f65967fa8ed039ce7da42c8a7c6f561461b
--- /dev/null
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json
new file mode 100644
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@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
new file mode 100644
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@@ -0,0 +1,68 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json
new file mode 100644
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@@ -0,0 +1,34 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json
new file mode 100644
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@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json b/raw/oakinkv2/program/pdg/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
new file mode 100644
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@@ -0,0 +1,64 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json
new file mode 100644
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@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json b/raw/oakinkv2/program/pdg/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58cbac723d84207c8466be10393230a283dc680
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,34 @@
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new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json
new file mode 100644
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@@ -0,0 +1,9 @@
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new file mode 100644
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@@ -0,0 +1,146 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3226bbd3d7003cf23c08942a8dd4334435e9abce
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@@ -0,0 +1,48 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a8f3f069978c446e026f7f3727e5076eb5619e
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..3945b1120795276c6b9254f68bf2288a80f70375
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@@ -0,0 +1,22 @@
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd819b72968b6a48d4d45952fff5618e712075e
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json
new file mode 100644
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@@ -0,0 +1,28 @@
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json
new file mode 100644
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@@ -0,0 +1,42 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json
new file mode 100644
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@@ -0,0 +1,22 @@
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new file mode 100644
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b6c08b737174782e66a68c0e256d06296fbeeb6
--- /dev/null
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a21f1ee46c7e5f98385fd717a5c2aa615c45aa
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..3337444ba547c3c2958029b6712c2c191c0d149d
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@@ -0,0 +1,22 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..10555cb644e321fd8cffe6aed0e359222fbea1f9
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f43fd8fad09c706cab05e6415fe9e2ff9e8ada3
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
@@ -0,0 +1,28 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b73e19b6caf3738cde303f8340aa569ed5ee11a
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json
@@ -0,0 +1,34 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..c07e55d0787382bdd71e1c827845395a2ba6cc68
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json
new file mode 100644
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--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json
@@ -0,0 +1,46 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json
new file mode 100644
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@@ -0,0 +1,16 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json
@@ -0,0 +1,40 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,44 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json
@@ -0,0 +1,34 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json
new file mode 100644
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@@ -0,0 +1,46 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
@@ -0,0 +1,80 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb90d3b30a905973214896a981b75771316053
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json
@@ -0,0 +1,16 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
new file mode 100644
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new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json b/raw/oakinkv2/program/pdg/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json
@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
new file mode 100644
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3a6b887f232f6581669dd9d97ff41e56be04dd
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json
new file mode 100644
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@@ -0,0 +1,28 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json b/raw/oakinkv2/program/pdg/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json b/raw/oakinkv2/program/pdg/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json b/raw/oakinkv2/program/pdg/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json
new file mode 100644
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json b/raw/oakinkv2/program/pdg/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json
@@ -0,0 +1,5 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json b/raw/oakinkv2/program/pdg/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json b/raw/oakinkv2/program/pdg/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json
@@ -0,0 +1,5 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json b/raw/oakinkv2/program/pdg/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json b/raw/oakinkv2/program/pdg/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json b/raw/oakinkv2/program/pdg/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json b/raw/oakinkv2/program/pdg/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json b/raw/oakinkv2/program/pdg/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
new file mode 100644
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+++ b/raw/oakinkv2/program/pdg/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
@@ -0,0 +1,9 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json b/raw/oakinkv2/program/pdg/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json
new file mode 100644
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@@ -0,0 +1,5 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json b/raw/oakinkv2/program/pdg/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json b/raw/oakinkv2/program/pdg/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json
new file mode 100644
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@@ -0,0 +1,5 @@
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+}
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json b/raw/oakinkv2/program/pdg/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json b/raw/oakinkv2/program/pdg/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
new file mode 100644
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@@ -0,0 +1,9 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json b/raw/oakinkv2/program/pdg/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json b/raw/oakinkv2/program/pdg/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json
new file mode 100644
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@@ -0,0 +1,22 @@
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diff --git a/raw/oakinkv2/program/pdg/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json b/raw/oakinkv2/program/pdg/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
new file mode 100644
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@@ -0,0 +1,22 @@
+{
+    "id_map": {
+        "((999, 1912), (1447, 1912))": 0,
+        "((1912, 3437), (2288, 3437))": 1,
+        "((4558, 5538), (4558, 5090))": 2
+    },
+    "v": [
+        0,
+        1,
+        2
+    ],
+    "e": [
+        [
+            0,
+            1
+        ],
+        [
+            1,
+            2
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/pdg/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json b/raw/oakinkv2/program/pdg/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a48c92842e77f56a8f2d7416323cc20d022bbe
--- /dev/null
+++ b/raw/oakinkv2/program/pdg/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json
@@ -0,0 +1,5 @@
+{
+    "id_map": {},
+    "v": [],
+    "e": []
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc92fd0a889ed1487cb5b24bd6cb01737332299
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__07bb164dc3d3873d6389__2023-04-27-20-45-29.json
@@ -0,0 +1,56 @@
+{
+    "(None, (966, 5954))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "(None, (6130, 7331))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    },
+    "(None, (7815, 8720))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (8976, 9784))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..37b7cdaf535caef213a83c8819f9c5cc77f2d6a3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__083f7a577484ba7929a9__2023-04-27-19-25-24.json
@@ -0,0 +1,18 @@
+{
+    "((1431, 4025), (1431, 4025))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00004",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf3dd473416768a46135240bd234c9ef21668d2f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16.json
@@ -0,0 +1,54 @@
+{
+    "(None, (1095, 1467))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "((1595, 2340), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2336, 2840))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (3228, 5634))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..316b5dc05c1c7d3c50fcf6d85ccaa509734d5441
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19.json
@@ -0,0 +1,18 @@
+{
+    "((1059, 6010), (1767, 5962))": {
+        "primitive": "stir",
+        "obj_list": [
+            "S10021",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "S10021"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4279a8138bd746da052b527d574843c1d1a83bb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__178ef1f9fed87514a792__2023-04-27-20-10-13.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1091, 4345))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (4737, 7310))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "wipe",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8fd6982d55a0d9546a9fdb9d800ca5e088a492d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__235ac519d522ceb4c947__2023-04-27-20-30-50.json
@@ -0,0 +1,30 @@
+{
+    "(None, (1445, 4027))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "(None, (4256, 7182))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24c00208dc6ac547156b2c3967e038ae708a287
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__49793d417b05076e1269__2023-04-27-19-28-42.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1307, 4338))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..adcbb528bb9a3f7224f7c4586ab49ad4fa208475
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__4c966751912ef4687b87__2023-04-27-18-41-04.json
@@ -0,0 +1,18 @@
+{
+    "((1746, 3852), (1334, 3880))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e7d9e68be73c063b3e9f3b6eaf74cdca167db3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45.json
@@ -0,0 +1,30 @@
+{
+    "(None, (1129, 3599))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (3811, 7061))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e6bf0d761cb9723e73296224d4874605b1837f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__62681ca151e80e850ded__2023-04-27-19-15-13.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1006, 3488))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "wipe",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e5b2cfd784c0263cce5fdf498e764e36d01b0d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__6bf65e89563a90b0221c__2023-04-27-19-00-03.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1275, 2008))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (2312, 3309))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc21f07cb6e0bf0b91a8766618f7a1450a3dd923
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25.json
@@ -0,0 +1,93 @@
+{
+    "(None, (798, 955))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (991, 1059))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (1111, 1159))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (1375, 2011))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "(None, (2207, 2256))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (3056, 3769))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    },
+    "(None, (4309, 4361))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11bdc5abb6f86535e6b08b133e6df4c5c8ea981
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__6e11d637b13834d44e77__2023-04-27-19-22-25.json
@@ -0,0 +1,18 @@
+{
+    "((1106, 3567), (1198, 3579))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..895e15191c69f62f0594b8f23882e8ecd7319e68
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__72f05957822d98d4059a__2023-04-27-18-39-01.json
@@ -0,0 +1,19 @@
+{
+    "((1336, 4211), (1264, 4211))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c8b36be21c8fee95dd46844e73f6e5a941b4be
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16.json
@@ -0,0 +1,30 @@
+{
+    "(None, (1151, 4261))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "(None, (4586, 6639))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f9b1792c183410227ba79e77d5f86384d30c92
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__775836c590d688b5c072__2023-04-27-20-52-16.json
@@ -0,0 +1,45 @@
+{
+    "(None, (992, 3710))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "(None, (3978, 4563))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    },
+    "((4563, 6336), (4706, 6336))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "wipe",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0100@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f83661cf4ab163ac35a87517c5edb4f2a972cf1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44.json
@@ -0,0 +1,18 @@
+{
+    "((1246, 3439), (1246, 3487))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f743f4cb597937877f779743dc9856fd4924de82
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1363, 4161))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "wipe",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cabf64e6111576d097d0f8615f080a0f3a1cfe6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__8420fa617d0a08081df3__2023-04-27-20-42-15.json
@@ -0,0 +1,34 @@
+{
+    "((1004, 2449), (1417, 2449))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((2453, 4871), (2453, 4871))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..51cbfafe410420c488430bd27811e2bd0bbaaeae
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13.json
@@ -0,0 +1,17 @@
+{
+    "(None, (1146, 5069))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb318a7acaa1500d81169089e16d3a16eb818f2a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9588d8284630e2f14b82__2023-04-27-20-17-40.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1261, 3255))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    },
+    "(None, (3687, 6845))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f68721028cc95e999977a057e4d36b58e532be
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9773da991b29c749de35__2023-04-27-18-46-10.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1223, 6627))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__99369773ed8032d1e35d__2023-04-27-20-48-38.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__99369773ed8032d1e35d__2023-04-27-20-48-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..b27a067f65717a37daf4a94fe00150b0468952c4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__99369773ed8032d1e35d__2023-04-27-20-48-38.json
@@ -0,0 +1,43 @@
+{
+    "(None, (1038, 1887))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "(None, (2027, 2411))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2844, 7063))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ba453678e002975e4b343f2b62856f320d4f73
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1336, 2945))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7000b749982e25d3cfc7f22ecbf1cbe6a7900b9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9e46184387ba83f60895__2023-04-27-18-43-58.json
@@ -0,0 +1,18 @@
+{
+    "((1316, 2377), (1316, 2341))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc804899381c3cb428bd787ec5481d7c6f12523
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02.json
@@ -0,0 +1,18 @@
+{
+    "((1152, 3966), (1380, 3966))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..669bdf6efaf101abbe6bfa2f3e0b2a57730a2a8e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ac79435402cf22f24550__2023-04-27-19-32-20.json
@@ -0,0 +1,132 @@
+{
+    "(None, (1344, 1669))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00004"
+        ]
+    },
+    "(None, (1757, 2273))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (2469, 3410))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (3726, 4583))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (4679, 5111))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (7841, 8273))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00004"
+        ]
+    },
+    "(None, (8401, 8918))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (9230, 9938))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((9938, 10607), None)": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (9938, 10631))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..e12b2371aaad62e0b4faa57ebe1f63d54b995941
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16.json
@@ -0,0 +1,41 @@
+{
+    "(None, (1330, 3724))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    },
+    "(None, (3888, 4781))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    },
+    "(None, (5345, 6282))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91148cf8a79b9c8c9fa53f0d2082bf0272b9ec3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19.json
@@ -0,0 +1,34 @@
+{
+    "((1111, 5082), (1111, 4598))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5294, 6868), (5002, 6868))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021",
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "S10021"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__c3e9947ed401e54181b6__2023-04-27-20-27-08.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__c3e9947ed401e54181b6__2023-04-27-20-27-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec824b3c8c6fd9b3dbe8c9908fad170407a7786d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__c3e9947ed401e54181b6__2023-04-27-20-27-08.json
@@ -0,0 +1,31 @@
+{
+    "(None, (1168, 6460))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((6800, 10723), (6464, 11316))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..20c268093dd9f641eafedbff6d4047e8af0e7821
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__c635c44e3da5012988e8__2023-04-27-18-55-00.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1069, 2362))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..442db6937217d6b8f7eeb431e22491643f0fd159
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22.json
@@ -0,0 +1,18 @@
+{
+    "((1389, 7586), (1389, 7586))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0017@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..4950570ea1be7424b58e6a4db67750440afa1019
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22.json
@@ -0,0 +1,18 @@
+{
+    "((1130, 2363), (1230, 2291))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..2034e6218d72e9a67bce9552d0b49aa212ad9bf5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39.json
@@ -0,0 +1,18 @@
+{
+    "((1204, 3285), (1368, 3285))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2b0bd56eaf2965df819f962f511c24902f09ce
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53.json
@@ -0,0 +1,18 @@
+{
+    "((1257, 3287), (1257, 3287))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd20e349e43374d8ea259dc548f382d2f4e05a3f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1034, 5353))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (5353, 8031))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..482730e13aec026ce5d106f02cfae76eaa165c19
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__01857017aef944761b78__2023-04-21-19-28-11.json
@@ -0,0 +1,196 @@
+{
+    "((1675, 2192), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2680, 4461))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((2896, 3661), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4914, 5662))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (5887, 5991))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((6611, 8332), (7320, 8332))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "(None, (8906, 9463))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (9735, 10459))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (10503, 11060))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((12233, 13377), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (12505, 13377))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((13686, 14454), (13794, 14486))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "((15275, 17661), (15275, 17748))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((17937, 18657), (17753, 18657))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1838237710bacf21f75f7884ae9684c9f39030b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__038653a60635afa73438__2023-04-16-11-43-28.json
@@ -0,0 +1,34 @@
+{
+    "((1012, 4178), (1552, 4106))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C12001",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    },
+    "((4178, 7945), (4498, 7945))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__05d45aca8ef08285afa5__2023-04-18-10-22-08.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__05d45aca8ef08285afa5__2023-04-18-10-22-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1345ab4d27849d4b412e095b6bf79e7e30ae1cc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__05d45aca8ef08285afa5__2023-04-18-10-22-08.json
@@ -0,0 +1,125 @@
+{
+    "(None, (1528, 3689))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    },
+    "((2372, 3077), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4133, 4938), None)": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4742, 4870))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((6479, 7157), (6707, 6887))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((7157, 8757), (7428, 8561))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    },
+    "((8757, 9541), (8953, 9529))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((10310, 11887), (10082, 11887))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c3a311a404a009539510b25f1ac290210b26bc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__073013b056465055373f__2023-04-18-09-53-09.json
@@ -0,0 +1,41 @@
+{
+    "(None, (1066, 1819))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    },
+    "((2587, 3711), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2635, 3711))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..f32ee0a64edf7b8d73a10ca90077fcba2f59125e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40.json
@@ -0,0 +1,46 @@
+{
+    "((1765, 5019), (1241, 5019))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "(None, (5440, 6436))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    },
+    "((5440, 6436), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5faad10efdd9efd771ac57ee5bceb14ee09d49f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37.json
@@ -0,0 +1,154 @@
+{
+    "((1922, 2734), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1922, 2554))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ]
+    },
+    "((2734, 4388), (2915, 4388))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((4548, 5858), (4392, 5861))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((6285, 7083), (6285, 6840))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0092@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0092@00001"
+        ]
+    },
+    "((7467, 8337), (7467, 8029))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "((9022, 10828), None)": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0011@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((11262, 14647), (10152, 14959))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((15127, 15345), (15127, 15345))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((15765, 16487), (15837, 16487))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4bf2288a2fc5f58038896d16a558dc459904224
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__11da49b9d19c55c9d954__2023-04-16-10-14-38.json
@@ -0,0 +1,60 @@
+{
+    "((2338, 6611), (1225, 6611))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    },
+    "((6611, 7087), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6759, 7576))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "((7768, 12148), (8128, 11944))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..02dc6ba6e4ff26cae9b6c5d3d179024d32c698df
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02.json
@@ -0,0 +1,18 @@
+{
+    "((2261, 4070), (1212, 3962))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "spread",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..6406157d4595642952456703fb8cb0a2eb029d1e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09.json
@@ -0,0 +1,36 @@
+{
+    "((1306, 4509), (670, 4973))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((5562, 6911), (5161, 7055))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0017@00001",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "spread",
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e412dfbae6edbba5e036fe1067c8f02232aca61
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46.json
@@ -0,0 +1,34 @@
+{
+    "((1232, 5110), (1232, 5110))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5231, 10054), (5110, 10018))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c124898ef4b535ba2dffb5bb658dce51df6185d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__1a04a2726d91f0687d98__2023-04-18-09-42-40.json
@@ -0,0 +1,31 @@
+{
+    "((935, 4471), (1501, 4912))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (5156, 5952))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "cap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..0563600dba1695ede9ad3a4a8ddfa29dbf1ca99d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53.json
@@ -0,0 +1,140 @@
+{
+    "((1488, 1768), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1924, 4150), (1680, 3934))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002",
+            "C10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scoop",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "C10001"
+        ]
+    },
+    "((4150, 6820), (4378, 6540))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002",
+            "S10020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scoop",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "S10020"
+        ]
+    },
+    "((6824, 7088), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((7728, 8713), (7080, 8761))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((9271, 11579), (8761, 11595))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C14001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "C14001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((11759, 12444), (11600, 12720))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((13108, 14561), (13172, 14585))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((14806, 16095), (14589, 16471))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C14001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C14001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce3f9d3a86703fa9afb37ffdf1523a5d8fb4cde
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__22db0324e00df1d6d725__2023-04-15-10-10-58.json
@@ -0,0 +1,18 @@
+{
+    "((1634, 4048), (1054, 4048))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0017@00001",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3381c66138f065edfe5869bceba264d7ba136c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__24cffaeaadf8a022f376__2023-04-23-18-50-27.json
@@ -0,0 +1,135 @@
+{
+    "((1410, 3992), (994, 3836))": {
+        "primitive": "grip",
+        "obj_list": [
+            "C10001",
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((4276, 5021), (4108, 5021))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    },
+    "((5021, 6225), (5021, 6225))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00010"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    },
+    "((6225, 7282), (6225, 7286))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    },
+    "((7803, 8323), (7803, 8323))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((8327, 10348), (8327, 10348))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((10352, 10745), (10352, 10953))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((11221, 13303), (11569, 13423))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001",
+            "C10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0033@00001"
+        ],
+        "obj_list_rh": [
+            "C10001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a08adaad0657eb9b287b65c497bd9a81cc67d8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40.json
@@ -0,0 +1,173 @@
+{
+    "((1239, 1815), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": null
+    },
+    "((2179, 2712), None)": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3236, 6743))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (7075, 7587))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0094@00001"
+        ]
+    },
+    "((7939, 8760), (7939, 8668))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((8760, 10075), (8852, 9937))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((10075, 11246), (10213, 10690))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (10750, 10966))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((12263, 13011), (12399, 12879))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((13011, 14056), (13143, 13992))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((14056, 14833), (14120, 14608))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..27b859331d58297be811f2e7e8b80a4aafac3dd6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45.json
@@ -0,0 +1,208 @@
+{
+    "((1160, 2645), (1112, 2729))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((2829, 6213), (2729, 6213))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((7370, 9996), (6621, 10396))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((10580, 12053), (10464, 11821))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((12250, 13094), (12410, 12870))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (12946, 13266))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((13094, 13586), (13318, 13546))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((13863, 14139), (13863, 14599))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((14487, 15360), (14839, 15300))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((15852, 16308), (15924, 16096))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((18518, 19707), (18618, 19142))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((19911, 20047), (19375, 20047))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((20391, 21060), (20415, 20856))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__2966d387c888ecca94d1__2023-04-16-10-23-13.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__2966d387c888ecca94d1__2023-04-16-10-23-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ba631bc48a548640d59256853125ad520c52154
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__2966d387c888ecca94d1__2023-04-16-10-23-13.json
@@ -0,0 +1,30 @@
+{
+    "((1202, 3671), None)": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4152, 8767))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f2ba369a13db3de3a13c2832188eaf719747c7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__2f774a18a128dafb628a__2023-04-18-09-48-37.json
@@ -0,0 +1,54 @@
+{
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+        "obj_list": [
+            "O02@0017@00002"
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
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+        "obj_list_rh": null
+    },
+    "(None, (1468, 4174))": {
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+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((4234, 5651), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4686, 5523))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..e52d3dd9d17aa04106171e9dbdf4d8774edddb18
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__31218648456a55218293__2023-04-15-11-06-48.json
@@ -0,0 +1,226 @@
+{
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+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1357, 1709), None)": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2166, 3363), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0094@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
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+    },
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+        "obj_list": [
+            "O02@0094@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5588, 6085), None)": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0094@00001",
+            "O02@0094@00004",
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+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
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+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
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+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
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+            "O02@0039@00002"
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+            "C12001"
+        ],
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+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
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+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (9305, 10574))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((11915, 12560), (11823, 12468))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((13724, 14013), (13792, 14001))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((16262, 18068), (16318, 16831))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((18208, 18460), (16943, 18460))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((18620, 19192), (18620, 19060))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..003e2ee1f3901bede0bf00821d2d10397b5f99ad
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__35fb7760f51e79a8a573__2023-04-16-11-22-39.json
@@ -0,0 +1,66 @@
+{
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+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0032@00001",
+            "O02@0032@00002"
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+        "primitive_lh": "hold",
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+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((4862, 5227), (4862, 5227))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0017@00001"
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0026@00001"
+        ]
+    },
+    "((6237, 9934), (6427, 9834))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__380c72ff8a934cdb1877__2023-04-16-10-10-19.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__380c72ff8a934cdb1877__2023-04-16-10-10-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..87b55ae9218fcec3b0bf6fdeeb7f7152fce35522
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__380c72ff8a934cdb1877__2023-04-16-10-10-19.json
@@ -0,0 +1,59 @@
+{
+    "((1032, 2029), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        "obj_list": [
+            "O02@0038@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "press_button",
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+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "((3410, 3966), (3410, 3834))": {
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+        "obj_list": [
+            "S10001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
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+        "obj_list_rh": [
+            "S10001"
+        ]
+    },
+    "((3966, 8594), (4098, 8450))": {
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+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..7369a6793c85495d0b0e05e9c5dab796d8e73340
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20.json
@@ -0,0 +1,202 @@
+{
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+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
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+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((3108, 5093), (2663, 5093))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((5093, 5449), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((5605, 6348), (5750, 6194))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
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+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
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+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [],
+        "obj_list_rh": [
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+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (7819, 8143))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
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+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((10619, 11386), (10717, 11350))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    },
+    "((11386, 12150), (11422, 11846))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (12571, 14612))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (14924, 15325))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0033@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
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+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    },
+    "((16149, 18103), (15465, 17974))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0033@00001"
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa402098586682c51780a04626ce4a1345fb8f4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57.json
@@ -0,0 +1,136 @@
+{
+    "((2925, 4223), (2925, 4679))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "S20005",
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "S20005"
+        ],
+        "obj_list_rh": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ]
+    },
+    "((4880, 5545), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (5852, 5956))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (6454, 6997))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ]
+    },
+    "((8424, 9052), (8130, 9340))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ]
+    },
+    "((10049, 10910), (9576, 11757))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((10910, 11412), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (11833, 12535))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "(None, (12975, 18049))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..60bbb4c37584556bc7a50c830868a2d369339509
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__402490af21c1e522967a__2023-04-15-10-05-56.json
@@ -0,0 +1,43 @@
+{
+    "((1380, 1952), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "S10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2476, 2697))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2917, 7256))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd92e75cdf8b318a647556000bd55b6e2a5d23e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27.json
@@ -0,0 +1,18 @@
+{
+    "((1794, 4376), (1202, 4304))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__4664f66e0c783b858b10__2023-04-15-10-35-58.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__4664f66e0c783b858b10__2023-04-15-10-35-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bfe4390eac6d5331662c306738cc1e9c2ba1e67
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__4664f66e0c783b858b10__2023-04-15-10-35-58.json
@@ -0,0 +1,18 @@
+{
+    "((1765, 3074), (933, 3991))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__49a8305e104d29e3816a__2023-04-15-09-41-56.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__49a8305e104d29e3816a__2023-04-15-09-41-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..a110e6a02255043035153a533d2a4cb1913f8210
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__49a8305e104d29e3816a__2023-04-15-09-41-56.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1428, 3045))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "cap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__4f2588329dcddda52337__2023-04-16-09-32-34.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__4f2588329dcddda52337__2023-04-16-09-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb50163eddb0963fc6c9a6b4504c8659ad6bcc68
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__4f2588329dcddda52337__2023-04-16-09-32-34.json
@@ -0,0 +1,18 @@
+{
+    "((2025, 3811), (1265, 3635))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "spread",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c15a9ec8b574da41343fa35843762484fc858f3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5184469e3a4623496dd4__2023-04-15-10-51-48.json
@@ -0,0 +1,123 @@
+{
+    "((1309, 2396), (1394, 2250))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((2396, 3565), (2542, 3287))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((3565, 4540), (3843, 4472))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((4540, 5008), (4608, 4792))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((6902, 7832), (7021, 7698))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((7832, 8659), (7966, 8619))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((8659, 9319), (8699, 9155))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6618d7080eb76ef06d45d9bbdf030850c3dfb11
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43.json
@@ -0,0 +1,47 @@
+{
+    "((1087, 1851), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2059, 5850), (1775, 5870))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5982, 7723), (5870, 8096))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..a503759fea8b05d4a084af27b13a1ab3a291b126
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26.json
@@ -0,0 +1,165 @@
+{
+    "((1422, 1871), (1767, 1959))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00004"
+        ]
+    },
+    "((1871, 2499), (1959, 2367))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((2499, 4058), (2631, 3828))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((4058, 5377), (4288, 4961))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (5193, 5289))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((6914, 7303), (7150, 7303))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((7303, 8616), (7863, 8616))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((8616, 9584), (8860, 9584))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((9997, 12310), (11345, 12258))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "C12001"
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+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..c993052fd7d2258691c998eac016e2cfed410eb9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__590d0923c75785cbfb33__2023-04-21-20-39-42.json
@@ -0,0 +1,373 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b5c95a95482762bd578c5a41d4e4b72b0673a1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45.json
@@ -0,0 +1,332 @@
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (26540, 27617))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((26824, 27617), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..b106788525e18cccc889f76986f122546fe5e42b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54.json
@@ -0,0 +1,34 @@
+{
+    "((1362, 4472), (1041, 5193))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5433, 6089), (5433, 6089))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5da24047ae42adea82f3__2023-04-15-09-40-46.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5da24047ae42adea82f3__2023-04-15-09-40-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a0985e2be43e7049a5481f0f6c59e561de330d9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5da24047ae42adea82f3__2023-04-15-09-40-46.json
@@ -0,0 +1,18 @@
+{
+    "((926, 2183), (1255, 2031))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..39178dfc9df3ae5147109372898cd123aafb5569
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5f9751f660a51045d22c__2023-04-21-19-08-07.json
@@ -0,0 +1,255 @@
+{
+    "((1185, 2051), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2574, 2708))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (3406, 4326))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ]
+    },
+    "((3621, 4326), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4326, 4807))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ]
+    },
+    "(None, (5408, 5900))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ]
+    },
+    "(None, (6205, 6723))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ]
+    },
+    "(None, (7227, 7721))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00002"
+        ]
+    },
+    "((7886, 8581), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((9723, 10806), (8987, 10874))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((11094, 11490), (10874, 12105))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((12387, 12607), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((12843, 13152), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((13361, 13854), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (13491, 14182))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001"
+        ]
+    },
+    "((13982, 14270), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (14655, 18261))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((18661, 19386), (18661, 19386))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001",
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0020@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__5fef04b7c444d30af102__2023-04-16-09-41-41.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5fef04b7c444d30af102__2023-04-16-09-41-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..d630d549a7e68e25ab1e9e31b06d940fbcaddf80
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__5fef04b7c444d30af102__2023-04-16-09-41-41.json
@@ -0,0 +1,48 @@
+{
+    "(None, (905, 5260))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((5837, 9465), (5653, 9375))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((9465, 9912), (9555, 9884))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "S10001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "S10001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__716692d2a096271f0219__2023-04-15-09-50-17.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__716692d2a096271f0219__2023-04-15-09-50-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e4951d25b5e6ed18b07697ac76671823c2123b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__716692d2a096271f0219__2023-04-15-09-50-17.json
@@ -0,0 +1,17 @@
+{
+    "(None, (1132, 4286))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf9d913607a2034b9cb8b2222a30e8732642fddb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36.json
@@ -0,0 +1,34 @@
+{
+    "((974, 3924), (1595, 3832))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    },
+    "((3924, 7975), (4113, 7503))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4e66c5d0965d43ff959983e529d7b8c3b7f845
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__74204866e2c7e3308258__2023-04-16-11-26-40.json
@@ -0,0 +1,43 @@
+{
+    "((867, 1472), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1544, 1860))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2264, 5847))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..66d93d6edf4c83d93bb9d2ce5104e90e5d1a5f54
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34.json
@@ -0,0 +1,159 @@
+{
+    "((1618, 4742), (2324, 5210))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5514, 8044), (5690, 8440))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((9521, 9973), (9121, 10818))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((10310, 10970), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((11703, 12243), (11278, 12259))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((12403, 12679), (12303, 12835))": {
+        "primitive": "screw",
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+            "O02@0015@00002"
+        ],
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+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((13012, 13936), (13127, 13936))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((13940, 15337), (13940, 15337))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((15341, 16154), (15341, 16414))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00004",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((16770, 18416), None)": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..687adfe12ca8a44a4f91a66052ad14ce8f24ba8f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__765b120e4a0c126f2a05__2023-04-15-09-53-34.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1250, 3736))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__783bd4550274783193c3__2023-04-15-09-58-39.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__783bd4550274783193c3__2023-04-15-09-58-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba5c34ed333ebb097e513cf502d3966d1294cd4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__783bd4550274783193c3__2023-04-15-09-58-39.json
@@ -0,0 +1,28 @@
+{
+    "(None, (952, 2077))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((2434, 3186), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e2c1ccca144fcc570d7153107c410e5c45412ea
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__7a35f28a2158edf5c083__2023-04-15-10-50-06.json
@@ -0,0 +1,18 @@
+{
+    "((1119, 2156), (1248, 1972))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..2313e9fdc10355cb1dff9ab1c2ed3236ab681340
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__7c8015df8645965d920d__2023-04-21-21-05-08.json
@@ -0,0 +1,475 @@
+{
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+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
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+        "primitive_rh": null,
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+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "hold",
+        "obj_list": [
+            "O02@0026@00001"
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+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
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+    },
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+        "obj_list": [
+            "O02@0017@00001"
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+            "O02@0017@00001"
+        ],
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+    },
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+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
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+        "primitive_rh": "grip",
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+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
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+    "(None, (9276, 9589))": {
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+            "O02@0017@00001"
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
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+        "obj_list": [
+            "O02@0026@00001"
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+        "obj_list_lh": [
+            "O02@0026@00001"
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+    },
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+        "obj_list": [
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+            "O02@0017@00002"
+        ]
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+            "O02@0026@00001",
+            "O02@0030@00002"
+        ],
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+        "primitive_lh": "hold",
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+            "O02@0026@00001"
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+        "obj_list_rh": [
+            "O02@0030@00002"
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+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
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+            "O02@0015@00001",
+            "O02@0015@00002"
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
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+            "O02@0015@00001"
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+            "O02@0015@00002"
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+        "obj_list_rh": [
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+            "O02@0015@00008"
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+            "O02@0015@00008"
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+            "O02@0015@00007",
+            "O02@0015@00008"
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+            "O02@0015@00008"
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+        "obj_list": [
+            "O02@0026@00001"
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+        "interaction_mode": "lh_main",
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+        "obj_list_lh": [
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+    },
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+        "obj_list_rh": [
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+        "obj_list_lh": [
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+    },
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+        "obj_list_rh": [
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+    },
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+        "obj_list": [
+            "O02@0100@00001"
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+        "obj_list_lh": [
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+        "primitive_rh": "wipe",
+        "obj_list_lh": [
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+            "O02@0100@00001"
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+        "obj_list": [
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+    },
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+        "obj_list": [
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+        "obj_list": [
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+        "primitive_rh": "hold",
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+        "obj_list": [
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+            "O02@0017@00001"
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+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
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+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
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+            "O02@0015@00008"
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "obj_list_rh": [
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+    "(None, (36457, 36504))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00008"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    },
+    "((36680, 36836), (36692, 36836))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((37077, 37511), None)": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4bde0d9a98f5c0d932bf0ec3fbb0ac10b45b5ae
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__7cc685df14ba8096034f__2023-04-16-09-37-10.json
@@ -0,0 +1,90 @@
+{
+    "((1095, 5522), (1955, 5346))": {
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+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5522, 6323), (5698, 6323))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002",
+            "S10001"
+        ]
+    },
+    "((7219, 7956), (6495, 7872))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    },
+    "(None, (7872, 9293))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    },
+    "(None, (9297, 11755))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "screw",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    },
+    "(None, (12103, 12655))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..410947fd4e68533607e850b97f44319f5e5cf058
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26.json
@@ -0,0 +1,30 @@
+{
+    "((1114, 3608), (2291, 3608))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "(None, (4053, 5874))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__83207950cb49bb1c3aca__2023-04-16-10-57-12.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__83207950cb49bb1c3aca__2023-04-16-10-57-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ba8c475e7eae171e7fcbb8eee987d9e3993ea3e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__83207950cb49bb1c3aca__2023-04-16-10-57-12.json
@@ -0,0 +1,41 @@
+{
+    "((1003, 1551), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "S10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1743, 2056))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2464, 5226))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c9e6fc7e90a7cf8f6f4a341829402fc7e209253
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58.json
@@ -0,0 +1,200 @@
+{
+    "((1411, 3448), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3612, 3985), (1939, 3985))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ]
+    },
+    "((4149, 6550), (4149, 6478))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0030@00002",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scrape",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "(None, (6658, 7251))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "cap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((8192, 9192), (7839, 9164))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C12001",
+            "S10020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "S10020"
+        ]
+    },
+    "((9757, 10165), (9444, 10165))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((10165, 12307), (10165, 12307))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((12307, 12883), (12307, 13115))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((13287, 13555), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((13656, 15016), (13511, 15025))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((15265, 16930), (15029, 16966))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((17046, 17775), (16970, 17943))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((17863, 18399), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e1278809bae3dbe22bec11ee0654b9412733697
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__87b7e399b0795bc70a00__2023-04-15-09-33-40.json
@@ -0,0 +1,18 @@
+{
+    "((1277, 3683), (1185, 3635))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00010"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba4f62ab6c15a9a096e1bc8e1c3d161299b6b26
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__888432237275999c9f7d__2023-04-18-10-32-34.json
@@ -0,0 +1,147 @@
+{
+    "((1544, 2273), (2044, 2273))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((2273, 2525), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2525, 4294), (2753, 4130))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((4294, 5185), (4458, 5063))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((5185, 5627), (5307, 5519))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (7616, 7901))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((7616, 8065), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((8065, 9211), (8229, 9129))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00002",
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((9211, 9994), (9294, 9982))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (10667, 11127))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a899f55ad9d40c0608010882f83023769f6bbf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__894b2fdab230f1a2506b__2023-04-15-09-39-22.json
@@ -0,0 +1,34 @@
+{
+    "((878, 2323), (1266, 2275))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((2659, 3416), (2756, 3320))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e184b38c09b55bb4474e0ade1e93789b1d551f6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51.json
@@ -0,0 +1,30 @@
+{
+    "((944, 3234), (1220, 3234))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0026@00001"
+        ]
+    },
+    "(None, (3663, 4531))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__916da2456e9042c18107__2023-04-16-10-53-20.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__916da2456e9042c18107__2023-04-16-10-53-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6e0d75737a74ace26f5c027ac478af958cbca7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__916da2456e9042c18107__2023-04-16-10-53-20.json
@@ -0,0 +1,48 @@
+{
+    "((984, 2769), (1056, 2769))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "scoop",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0026@00001"
+        ]
+    },
+    "((2957, 3490), (2957, 3490))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((3826, 6580), (3826, 6384))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..10373c15f2f42aeeda1f29d0ecc646c3f3fa1465
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37.json
@@ -0,0 +1,178 @@
+{
+    "((1010, 3092), (1455, 3092))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00001",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((3096, 3487), (3096, 3587))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00001",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((3652, 4224), (3591, 4473))": {
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+        "obj_list": [
+            "O02@0094@00001",
+            "S20005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((4473, 4858), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0094@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00003"
+        ],
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+    },
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+        "primitive": "scoop",
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+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((8972, 12202), (8717, 12323))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
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+        "primitive_lh": "rearrange",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (12323, 13419))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (13419, 13841))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((13531, 14229), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (14144, 14605))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0094@00004"
+        ]
+    },
+    "((14904, 15357), (14904, 15357))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0094@00004"
+        ]
+    },
+    "((15593, 16380), (15557, 16677))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd71f16a0d341011979826ac6ded5b3b36281125
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__925aa236cf6d91566f4e__2023-04-23-19-39-35.json
@@ -0,0 +1,215 @@
+{
+    "((1511, 2200), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": null
+    },
+    "((2200, 2591), (1786, 2703))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((2703, 2963), (2703, 3105))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((3247, 4893), (3105, 5217))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0030@00002",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scrape",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((5549, 6207), (5217, 6207))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "(None, (6618, 7809))": {
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+        "obj_list": [
+            "S10020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10020"
+        ]
+    },
+    "((8306, 9078), (7953, 9078))": {
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+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((9082, 10203), (9082, 10203))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((10211, 11055), (10211, 11448))": {
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+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((11720, 12350), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((12508, 12789), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((12970, 13900), (13403, 13923))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0030@00002",
+            "C10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "C10001"
+        ]
+    },
+    "((13900, 15488), (14211, 15388))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0030@00002",
+            "O02@0011@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scrape",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00001"
+        ]
+    },
+    "((15492, 16801), (15492, 16801))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0030@00002",
+            "C10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "C10001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..68db37eb16dfd03eadf0a5874235c9265904b045
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47.json
@@ -0,0 +1,154 @@
+{
+    "((1185, 2190), (1646, 2114))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((2190, 3631), (2266, 3523))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
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+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((4324, 5088), (4620, 5088))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((6914, 7365), (7166, 7365))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((7365, 7770), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0010@00003"
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    },
+    "((9365, 10160), (9607, 10160))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((11689, 12990), (10487, 13746))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..062066bab0d239c63ae4f4b450c8e4847a382de9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9ace5e2df7edd544061f__2023-04-16-11-39-02.json
@@ -0,0 +1,60 @@
+{
+    "((1909, 4495), (1361, 4427))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C12001",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    },
+    "((4495, 5492), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4839, 5516))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5904, 6645), (5904, 6645))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9b00499d20173000984b__2023-04-18-09-29-31.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9b00499d20173000984b__2023-04-18-09-29-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ada8874321edf07047b57164ae7dbe67cb0c2f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9b00499d20173000984b__2023-04-18-09-29-31.json
@@ -0,0 +1,33 @@
+{
+    "((1031, 1711), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3248, 3468), (2296, 7207))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0038@00001",
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "O02@0038@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9b728ad5953bf2f06798__2023-04-16-09-33-47.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9b728ad5953bf2f06798__2023-04-16-09-33-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..119a0730f85b433edd2b55f291073e2abadae96d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9b728ad5953bf2f06798__2023-04-16-09-33-47.json
@@ -0,0 +1,18 @@
+{
+    "((1822, 3711), (1153, 3579))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "spread",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b05032b041ae67eb20129e98f7ba9f63ac34d8d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59.json
@@ -0,0 +1,31 @@
+{
+    "((1046, 1592), None)": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": null
+    },
+    "((2294, 4871), (2029, 5268))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9d4bff431d87a704ec42__2023-04-15-09-28-44.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9d4bff431d87a704ec42__2023-04-15-09-28-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ae082e7e25f20983912dc6f2d133db48c28c15
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9d4bff431d87a704ec42__2023-04-15-09-28-44.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1082, 3488))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10020"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c82556788561c3fb5cee082d5dac18d8b73874f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21.json
@@ -0,0 +1,161 @@
+{
+    "(None, (1413, 2073))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (2385, 3102))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    },
+    "(None, (3566, 5700))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((3971, 4795), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6436, 7157))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (7681, 7749))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (9450, 10335))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (10755, 11716))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (11788, 12389))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((13658, 17256), (13930, 17789))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((18609, 19874), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (18609, 19618))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37714910c10d646eb84f109e9b7bcb68f13b235
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11.json
@@ -0,0 +1,18 @@
+{
+    "((2077, 3654), (1221, 4131))": {
+        "primitive": "stir",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8a91d40f299485e6e435b17c1dbf8f7d40c8558
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a068789362978fe97452__2023-04-16-11-18-43.json
@@ -0,0 +1,62 @@
+{
+    "((2002, 5144), (1141, 6473))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002",
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((5460, 5809), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6005, 6453), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((7202, 9387), (6789, 9856))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f8a2b8a510cb6313a67a28df15cac4c835f2265
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1057, 5424))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__a5de2b93822f3b229140__2023-04-15-10-41-00.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a5de2b93822f3b229140__2023-04-15-10-41-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de9689a5e411757bc4ed475cca42cc7fa47b341
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a5de2b93822f3b229140__2023-04-15-10-41-00.json
@@ -0,0 +1,18 @@
+{
+    "((1678, 3499), (993, 4015))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c1f9b3692d04a1e9201db99257edcf7285a2529
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04.json
@@ -0,0 +1,233 @@
+{
+    "((1509, 5204), (1925, 5560))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C11001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((6056, 6322), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6092, 6248))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00001"
+        ]
+    },
+    "((6322, 7025), (6396, 6909))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (7193, 7849))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (8594, 9258))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (9359, 9455))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "(None, (10704, 10944))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((11532, 12613), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((12969, 13534), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "((13946, 14686), (13890, 14506))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((14686, 15691), (14867, 15607))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((15691, 16456), (15775, 16372))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((16732, 19599), (17270, 19644))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (19644, 20708))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((19959, 20520), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..588670c9556273d0c8a9cba0039c10ba2562f284
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ab9750a9667f80a27e93__2023-04-15-10-43-33.json
@@ -0,0 +1,28 @@
+{
+    "((985, 1821), None)": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2110, 2834), None)": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a5354df82fb56d853c4a956e4b1de4332f2a992
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b14940e02d707632ae06__2023-04-16-11-29-49.json
@@ -0,0 +1,49 @@
+{
+    "((1008, 4490), (1796, 4402))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    },
+    "((4490, 5279), (4578, 5279))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0092@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0092@00001"
+        ]
+    },
+    "(None, (5799, 10158))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__b20638758c37e9f0301c__2023-04-16-09-51-09.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b20638758c37e9f0301c__2023-04-16-09-51-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9892516fe87f75b654404d475228edf81d0d7f3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b20638758c37e9f0301c__2023-04-16-09-51-09.json
@@ -0,0 +1,59 @@
+{
+    "((1273, 7051), (2134, 6957))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((7051, 7542), (7145, 7542))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((7778, 9163), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7778, 9163))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd84f4ca8c4d5400413e0fbe4b90fd0050bec608
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b6c549bece834a0bff0e__2023-04-16-11-14-04.json
@@ -0,0 +1,46 @@
+{
+    "((1725, 5087), (1208, 5087))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "(None, (5447, 6304))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    },
+    "((5447, 6304), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..1219b6475438ba11a856fc5369da66405a281b41
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50.json
@@ -0,0 +1,122 @@
+{
+    "((1295, 2887), (1599, 1839))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (2300, 3292))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((3356, 4397), (3809, 3957))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (4249, 4317))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((5802, 7131), (5902, 6403))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (6667, 7984))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((7195, 7712), None)": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((7940, 9441), (7996, 9441))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0b92330dd044a26ef444076cc825c0a0031e39
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41.json
@@ -0,0 +1,19 @@
+{
+    "((1207, 4397), (1079, 4397))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0013@00004",
+            "O02@0013@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0013@00004",
+            "O02@0013@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0013@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..5727cb904abc4149139c032a430cfb53bf8c7b93
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13.json
@@ -0,0 +1,33 @@
+{
+    "((1043, 2629), (1336, 2601))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    },
+    "((2633, 5695), (2853, 5695))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..c041f2c20cac9072ff21daa414ad4c6c0069274e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c1b07c891f60797049c3__2023-04-23-20-01-46.json
@@ -0,0 +1,185 @@
+{
+    "((1643, 2195), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": null
+    },
+    "((2319, 2659), (1943, 2695))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((2960, 4849), (2699, 5017))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0030@00002",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scrape",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((5105, 5629), (5017, 5629))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((6090, 6590), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((6674, 7515), (6542, 8291))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((7643, 8536), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0092@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((9196, 11318), (9196, 11318))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0030@00002",
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scrape",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((11806, 12622), (11550, 12622))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((12622, 13611), (12622, 13611))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "((13611, 14332), (13611, 14884))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "(None, (15040, 15437))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..560c90b35c177a7c5241433f4a2c8fc9531d9a0b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57.json
@@ -0,0 +1,164 @@
+{
+    "((1326, 1726), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2138, 2951), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2430, 3559))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (4052, 4916))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (5184, 5252))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((5953, 7658), (6990, 7658))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (8066, 8875))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (9279, 10000))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (10168, 11033))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((11777, 14243), (11777, 14343))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (14343, 15788))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((14711, 15788), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fa47640fce307c28c112c24b862dbfa27c63874
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c43758330dcc6637f14c__2023-04-16-10-49-51.json
@@ -0,0 +1,65 @@
+{
+    "((1048, 3217), (1292, 3217))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0026@00001"
+        ]
+    },
+    "((3662, 4418), (3662, 4246))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "((4594, 6736), (4446, 7116))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((7292, 7628), (7292, 7628))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C12001",
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "C12001",
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..2894ae01dbb649293173f11bb927d1ca92f17065
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c85fb5a67560826f32ad__2023-04-18-09-32-52.json
@@ -0,0 +1,41 @@
+{
+    "((1108, 1665), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1905, 2153))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2609, 3354))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca235fa19cc7595f652bb53d708f44279b3e8eaf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json
@@ -0,0 +1,59 @@
+{
+    "((1466, 4952), (965, 4468))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (4520, 4872))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((4952, 5653), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6009, 8267), (5280, 8074))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "wipe",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0100@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..49d7bf74518b357bc264e2429a79801c0d2f071a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51.json
@@ -0,0 +1,31 @@
+{
+    "((869, 5561), (1550, 5817))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (5817, 7323))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..f864af611f0c461a815aa59af7971cb8808b9fd1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__cb8f2081449618592d27__2023-04-18-09-58-25.json
@@ -0,0 +1,140 @@
+{
+    "((1226, 2284), (1226, 2368))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00016",
+            "O02@0015@00017"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00016"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00017"
+        ]
+    },
+    "(None, (2372, 2680))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00017"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00017"
+        ]
+    },
+    "((3093, 4379), (3201, 3757))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (3937, 4578))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0015@00017"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00017"
+        ]
+    },
+    "((4379, 5614), (5002, 5506))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((5614, 6043), (5723, 5982))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((7340, 8284), (7528, 8136))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((8284, 9325), (8432, 9105))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0015@00017"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00017"
+        ]
+    },
+    "((9537, 9833), (9389, 9833))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..18e8a85a21da1c1a1c31c7bf7df622547429257d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48.json
@@ -0,0 +1,204 @@
+{
+    "((1580, 4262), (1964, 4130))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002",
+            "C12001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "scoop",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
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+        ],
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+            "O02@0015@00001",
+            "O02@0015@00002"
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+            "O02@0015@00002"
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+        "primitive_rh": "hold",
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+            "O02@0033@00001"
+        ],
+        "obj_list_rh": [
+            "C10001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..a08a9b97f9fcce6a8f48d599279aad9bd4e65fe0
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44.json
@@ -0,0 +1,44 @@
+{
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+        "primitive_lh": "uncap",
+        "primitive_rh": null,
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+            "O02@0015@00019"
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+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
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+            "O02@0030@00002"
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+        "obj_list": [
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+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00019"
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+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e58a2c075a6242ba1571d8b4d1dc83734b02455
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34.json
@@ -0,0 +1,382 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6fc2ee29ffcf4ce1f84025d75483a0229b20a3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10.json
@@ -0,0 +1,41 @@
+{
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+        "obj_list_rh": [
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+        "obj_list": [
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+        "obj_list_rh": [
+            "O02@0013@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..722bc613d4ec9c6b5692f0a6e83c3345cd044474
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55.json
@@ -0,0 +1,33 @@
+{
+    "(None, (1048, 4835))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((5103, 7520), (5307, 7416))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1f46f308e317a65ee1c177f00a0f77cc51c742
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d78faa92219c617ea9b4__2023-04-15-10-48-45.json
@@ -0,0 +1,18 @@
+{
+    "((981, 1917), (1093, 1885))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8c6acc81e4e4d69decf93a347908850066ae4a3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__d7c333b80728391e47c7__2023-04-16-10-44-48.json
@@ -0,0 +1,30 @@
+{
+    "((1262, 3535), (1262, 1558))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    },
+    "(None, (3968, 4576))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..df569f566810c2fbd797a1f32423a4f11f9f9aca
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__de088ef0fd274c39348d__2023-04-18-10-11-07.json
@@ -0,0 +1,106 @@
+{
+    "((1252, 3721), None)": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4070, 5983))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((4214, 5286), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6367, 6792))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (7048, 7236))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (8801, 9301))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (9494, 10238))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "(None, (10422, 11131))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7690c4a002282b6d5bdd49b28c4f24e182ee372
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__e76b290b0440c2db3e27__2023-04-15-11-27-51.json
@@ -0,0 +1,242 @@
+{
+    "((1390, 3304), (970, 3296))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    },
+    "((3528, 3980), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3972, 4453))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "((5345, 6882), (4993, 6918))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "unscrew",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    },
+    "(None, (6918, 9012))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00008"
+        ]
+    },
+    "((8640, 9012), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((9012, 11310), (9012, 11826))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "screw",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00007",
+            "O02@0015@00008"
+        ]
+    },
+    "(None, (12150, 15625))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((15977, 16543), (15977, 16477))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((16543, 17340), (16609, 17242))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((17340, 17868), (17438, 17774))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((17868, 18327), (17962, 18091))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((19984, 21055), (20176, 20933))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((21055, 21823), (21177, 21737))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002",
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((21823, 22810), (21909, 22602))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc5c6aa9133f8b58cd6ebf9752a95d8ee55dc78
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__e9343c38e6f388976d31__2023-04-18-09-25-33.json
@@ -0,0 +1,54 @@
+{
+    "((1270, 2015), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2519, 2880))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (3516, 5405))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10001"
+        ]
+    },
+    "(None, (5750, 5934))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce109e768bb3709259743549949ed9c67b40ba3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ea24dfc157269667cf93__2023-04-18-10-38-42.json
@@ -0,0 +1,137 @@
+{
+    "((1368, 4686), (2348, 4514))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00004",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((5262, 5747), (4858, 5747))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0094@00004"
+        ]
+    },
+    "(None, (6339, 6847))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((7512, 8612), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7152, 8160))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "(None, (8429, 8981))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (9229, 9289))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (11767, 12624))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (12936, 13941))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "(None, (14289, 14749))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..2933e87a1889e9c57d8ab1d0aa5b20512620dbb1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15.json
@@ -0,0 +1,75 @@
+{
+    "((1456, 4146), (1212, 3970))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    },
+    "((4146, 5239), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4322, 5239))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0092@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001"
+        ]
+    },
+    "((5427, 6092), (5528, 6116))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0026@00001"
+        ]
+    },
+    "((6333, 8898), (6116, 8922))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0026@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0026@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9cabaf5397a6cc59e521f4a7e76ef38241ae9e7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49.json
@@ -0,0 +1,18 @@
+{
+    "((1029, 3131), (1105, 3010))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..f69d7f8372008c6028a145365690edd3d5ac021e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46.json
@@ -0,0 +1,44 @@
+{
+    "((972, 3345), None)": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3345, 3561), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4058, 5393), (3637, 5309))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..744befa3eed04c937b27fcaae6139e9329fb640a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53.json
@@ -0,0 +1,41 @@
+{
+    "(None, (1109, 1941))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (2205, 2297))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2718, 7021))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cbd7d9964228dbde1dc97bf2d17beeb2010188
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55.json
@@ -0,0 +1,18 @@
+{
+    "((1405, 3590), (1088, 3466))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0015@00010"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00010"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a65e530593da78f316d2610ca1be916c0d1af22
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__f4587e673c3df708d53a__2023-04-21-19-33-26.json
@@ -0,0 +1,148 @@
+{
+    "(None, (1312, 1729))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    },
+    "((2099, 2755), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2931, 3660))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (4056, 4608))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((5529, 5557), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((7767, 8515), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (9144, 10032))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((10068, 10709), None)": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((11582, 14728), (12490, 15504))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((16069, 17302), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0030@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (16125, 17302))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..51eb47d61609e4ba53ced066feca2b73a5bf66b2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34.json
@@ -0,0 +1,35 @@
+{
+    "((1134, 5245), (1723, 4945))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((5689, 8083), (5689, 8083))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0013@00004",
+            "O02@0013@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0013@00004",
+            "O02@0013@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0013@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A003++seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24.json b/raw/oakinkv2/program/program_info/scene_01__A003++seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25afdb1054c213f5e74700462c1a98aac86f0dd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A003++seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24.json
@@ -0,0 +1,18 @@
+{
+    "((1624, 4302), (1124, 4190))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__1469a06acb399dbd2b65__2023-04-28-18-40-56.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__1469a06acb399dbd2b65__2023-04-28-18-40-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..36d21fa2b44d5b10811e4bea773c8a50f89bc941
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__1469a06acb399dbd2b65__2023-04-28-18-40-56.json
@@ -0,0 +1,18 @@
+{
+    "((945, 1553), (764, 1553))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fbf9cfe79b1902805199ed0fc43fa407cc3f3f7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__29b5a6c10c68857d1431__2023-04-28-19-00-55.json
@@ -0,0 +1,18 @@
+{
+    "((1130, 2932), (738, 3040))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..06032d40abf381d0567ed99e38ac11e52b51b189
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__4102ced88c60ebdf8023__2023-04-28-18-37-52.json
@@ -0,0 +1,18 @@
+{
+    "((608, 2610), (968, 2469))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00023",
+            "O02@0015@00022"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00023"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00022"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__4b8138c463637dc9543d__2023-04-28-19-43-57.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__4b8138c463637dc9543d__2023-04-28-19-43-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f215c70da888da48e16b0326cb900af1ff52d8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__4b8138c463637dc9543d__2023-04-28-19-43-57.json
@@ -0,0 +1,57 @@
+{
+    "((944, 1404), None)": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": null
+    },
+    "((1408, 1892), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00019"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1608, 2140))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((2012, 4654), (2325, 4894))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__5421609ff372f909cd69__2023-04-28-19-24-25.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__5421609ff372f909cd69__2023-04-28-19-24-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e920a24570d692c81fff15e40f43d8f6e3f940
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__5421609ff372f909cd69__2023-04-28-19-24-25.json
@@ -0,0 +1,18 @@
+{
+    "((1342, 2635), (925, 2546))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__5bb1fb16345048b54d15__2023-04-28-18-55-13.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__5bb1fb16345048b54d15__2023-04-28-18-55-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f2e35bcd280a7c2d4bc2d662963181b344f05f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__5bb1fb16345048b54d15__2023-04-28-18-55-13.json
@@ -0,0 +1,54 @@
+{
+    "(None, (875, 1129))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (1129, 1385))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (1593, 1742))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    },
+    "(None, (1742, 1998))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__670845b55c2609fd17de__2023-04-28-18-37-09.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__670845b55c2609fd17de__2023-04-28-18-37-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc7913bec18e7f3773265d2c073219a25d83e334
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__670845b55c2609fd17de__2023-04-28-18-37-09.json
@@ -0,0 +1,19 @@
+{
+    "((755, 3156), (1263, 3156))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00023",
+            "O02@0015@00022"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00023"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00022",
+            "O02@0015@00023"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff9662bb8c4a9f8d015e4a4dea30db92c9c701f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26.json
@@ -0,0 +1,18 @@
+{
+    "((1446, 2554), (861, 2831))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..d585d44a2096517e9ab737e3b42cae73543e73a6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31.json
@@ -0,0 +1,17 @@
+{
+    "(None, (997, 3434))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__7f874047e7455e81d42d__2023-04-28-18-41-29.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__7f874047e7455e81d42d__2023-04-28-18-41-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ab3fcb9dc4e03d97124502b9cccb5fb13c231c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__7f874047e7455e81d42d__2023-04-28-18-41-29.json
@@ -0,0 +1,18 @@
+{
+    "((947, 1303), (763, 1291))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..91993f8643f660c427cadb018d21f9db90e926a6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__95a63dbb3016c9502247__2023-04-28-19-33-36.json
@@ -0,0 +1,126 @@
+{
+    "(None, (1162, 1603))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((1855, 2319), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2319, 2720), (1963, 2740))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0039@00002",
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((2720, 3195), None)": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3468, 3784))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (5614, 5862))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((6014, 6706), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6374, 7051))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((6706, 7235), None)": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b05e9e0336a0f100daeeff474779ea85179cee
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__9705549046ba84963239__2023-04-28-18-44-14.json
@@ -0,0 +1,18 @@
+{
+    "((1637, 3002), (1060, 3714))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__b01ecbd7533936b533ef__2023-04-28-19-27-08.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__b01ecbd7533936b533ef__2023-04-28-19-27-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f23c75969cebe908f8fd4261a8aa18b15bf76e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__b01ecbd7533936b533ef__2023-04-28-19-27-08.json
@@ -0,0 +1,18 @@
+{
+    "((1245, 2362), (761, 2374))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00001",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__c08f911077d1ee2eeada__2023-04-28-19-04-39.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__c08f911077d1ee2eeada__2023-04-28-19-04-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..307dc1d1b06bde39f112ec6303f808f70fcfe3db
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__c08f911077d1ee2eeada__2023-04-28-19-04-39.json
@@ -0,0 +1,54 @@
+{
+    "(None, (1247, 1315))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "((1663, 2160), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2528, 2612))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2864, 3985))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc5ebe11838f9fea49698a7a1c8bb8d4ee89a625
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15.json
@@ -0,0 +1,18 @@
+{
+    "((1063, 2957), (1067, 2929))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..08cda501af2125a2528604fb04bb8c846c3f54fe
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55.json
@@ -0,0 +1,18 @@
+{
+    "((855, 2815), (939, 2775))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__d570c3d83771037b2600__2023-04-28-18-53-19.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__d570c3d83771037b2600__2023-04-28-18-53-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..f385b3f6ceb287dbc619d23da65330cbce2b54a2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__d570c3d83771037b2600__2023-04-28-18-53-19.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1066, 1647))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json b/raw/oakinkv2/program/program_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2c73a6931cce06d0fe6e9ddee9209bb98c71b54
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A004++seq__f4786e64ba8f8a092976__2023-04-28-19-47-32.json
@@ -0,0 +1,63 @@
+{
+    "((1572, 3218), (896, 3538))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002",
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((1256, 1472), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3782, 3894), (3782, 3882))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0100@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    },
+    "((4138, 5719), (3882, 5719))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001",
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0017@00002",
+            "O02@0100@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..921e32965b0e700ec4e14b69085a799ec9987d26
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14.json
@@ -0,0 +1,15 @@
+{
+    "(None, (562, 1895))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "wipe",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__0f020df7ffbbce295312__2023-04-15-14-39-24.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__0f020df7ffbbce295312__2023-04-15-14-39-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be137da8a4599ba67bbc61e10100611f05bf660
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__0f020df7ffbbce295312__2023-04-15-14-39-24.json
@@ -0,0 +1,15 @@
+{
+    "(None, (368, 2250))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__14282919c498f2f82d25__2023-04-15-14-18-40.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__14282919c498f2f82d25__2023-04-15-14-18-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..b29b64ba10e9623fca82a74c0382771f48e0f162
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__14282919c498f2f82d25__2023-04-15-14-18-40.json
@@ -0,0 +1,18 @@
+{
+    "((763, 4061), (547, 4037))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..855c8b5d87bdb9038c47b0e8318887c384e4fef7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09.json
@@ -0,0 +1,15 @@
+{
+    "(None, (591, 2604))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..d66fbc97702721dc3b0a477f230fbd015f87fc31
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__292669123693a19994f3__2023-04-24-20-08-10.json
@@ -0,0 +1,198 @@
+{
+    "(None, (756, 1277))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((1633, 3286), (2237, 3286))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((3382, 4707), (3382, 4707))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((4835, 5641), (4835, 5641))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((6264, 7178), (5960, 7157))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C11001",
+            "S10020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "S10020"
+        ]
+    },
+    "((7181, 7745), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7381, 7793))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ]
+    },
+    "((7853, 8323), (7873, 8298))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((8323, 9971), (8526, 9927))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((9975, 10519), (10063, 10427))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "(None, (10459, 10755))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "(None, (10936, 12389))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((12697, 14445), (12521, 14305))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C11001",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__4fd8e3393331c29e3291__2023-04-15-14-27-29.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__4fd8e3393331c29e3291__2023-04-15-14-27-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..77221049a0c8a42d7060ceef621b6d71069f5cd8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__4fd8e3393331c29e3291__2023-04-15-14-27-29.json
@@ -0,0 +1,18 @@
+{
+    "((475, 1607), (499, 1868))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00014",
+            "O02@0015@00013"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00013"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be83def5c8330dbce476661ed8a400bc3c51207
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05.json
@@ -0,0 +1,131 @@
+{
+    "((1982, 3379), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00001",
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3511, 4384), (2811, 4348))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "((4384, 4560), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0090@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4784, 4828), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0038@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5168, 5236), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0038@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4536, 5425))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "(None, (5702, 6583))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "(None, (6583, 9297))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((10005, 10698), (9589, 12367))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..be34ef41ed9d2cd92e688e37e045b4a408609cc1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38.json
@@ -0,0 +1,15 @@
+{
+    "((1310, 1890), None)": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O93001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5fc24a0d796eabc39c7c7ab8651b1f79dc05228
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31.json
@@ -0,0 +1,123 @@
+{
+    "(None, (709, 1153))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((1301, 2570), (1578, 2606))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((2666, 3419), (2610, 3635))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((3491, 3683), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": null
+    },
+    "((4059, 5253), (3847, 5253))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((5257, 6558), (5317, 6514))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((6562, 7799), (6662, 7803))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((7995, 9372), (8047, 9208))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C11001",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__7c014b61a8766e1b1396__2023-04-15-14-28-13.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__7c014b61a8766e1b1396__2023-04-15-14-28-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc434fabc2f667546677731a99da0d5e50ad2ca
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__7c014b61a8766e1b1396__2023-04-15-14-28-13.json
@@ -0,0 +1,19 @@
+{
+    "((411, 1808), (411, 1808))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00014",
+            "O02@0015@00013"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00013",
+            "O02@0015@00014"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ac70f0b7fb2e5120e9cc34a0b1e3ff23ed3828
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06.json
@@ -0,0 +1,18 @@
+{
+    "((459, 1156), (487, 1132))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__82fc7cf062cdca89908c__2023-04-15-14-25-55.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__82fc7cf062cdca89908c__2023-04-15-14-25-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e7e399b5ec66008ce8a022bb35b4428e71dfa0d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__82fc7cf062cdca89908c__2023-04-15-14-25-55.json
@@ -0,0 +1,19 @@
+{
+    "((641, 1978), (621, 1962))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001",
+            "O02@0015@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..46038c38d03e2dc9fa278117ffa667627ac43303
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56.json
@@ -0,0 +1,18 @@
+{
+    "((1157, 2438), (633, 2386))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb91b4610085ca23501d150d76affd783d9c522a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__86fb02fdc014aad9042d__2023-04-15-16-00-57.json
@@ -0,0 +1,261 @@
+{
+    "((774, 1354), (774, 1354))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0038@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (1614, 2075))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "(None, (2167, 2211))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2371, 2411))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (2559, 2595))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "((3544, 5077), (3284, 5077))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00014",
+            "O02@0015@00013"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00013"
+        ]
+    },
+    "((5081, 6034), None)": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00014"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": null
+    },
+    "((6034, 7719), (6126, 7523))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00014",
+            "O02@0015@00013"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00013"
+        ]
+    },
+    "(None, (7639, 8087))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00014"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00014"
+        ]
+    },
+    "(None, (8551, 8912))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    },
+    "((8848, 9960), (9036, 9952))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0015@00010"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00010"
+        ]
+    },
+    "((9964, 11037), (10077, 10829))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00011",
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((11041, 12490), (11165, 13059))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00011"
+        ]
+    },
+    "((13491, 15669), (14039, 15132))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003",
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((16549, 17814), (16089, 18242))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((18363, 18863), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (18779, 20500))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    },
+    "((21393, 22818), (20804, 23278))": {
+        "primitive": "pour",
+        "obj_list": [
+            "C11001",
+            "C14001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "C14001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d92118205c2369134824fc8834be43af8c66e6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__87bc44222c663275d75e__2023-04-15-14-14-54.json
@@ -0,0 +1,18 @@
+{
+    "((1103, 5886), (810, 5874))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe94a86249aaec2b7be2bd11583d72e947a3b24
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__917052534a7afb8c3113__2023-04-15-14-44-16.json
@@ -0,0 +1,57 @@
+{
+    "((764, 1989), (1032, 1136))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0020@00001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0020@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (2321, 2581))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    },
+    "((2557, 2753), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2729, 3374))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__a15ff124580d494fb406__2023-04-15-14-46-19.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__a15ff124580d494fb406__2023-04-15-14-46-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a101dbf353e9a5229db01b0815568f4d25a5c3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__a15ff124580d494fb406__2023-04-15-14-46-19.json
@@ -0,0 +1,41 @@
+{
+    "(None, (775, 3621))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    },
+    "((1324, 2677), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0020@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3882, 5179))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__aac9de080442d7bb75be__2023-04-15-14-48-14.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__aac9de080442d7bb75be__2023-04-15-14-48-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41f8c1fe1e80b4f3882fbcc90948c11fad70d6a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__aac9de080442d7bb75be__2023-04-15-14-48-14.json
@@ -0,0 +1,54 @@
+{
+    "((646, 1391), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0020@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1739, 2395))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    },
+    "(None, (2716, 2859))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (2859, 3144))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c3dda722cf49f7b65534686b51cecda305d564
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27.json
@@ -0,0 +1,126 @@
+{
+    "(None, (668, 1020))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C11001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((1304, 2809), (1901, 2745))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((2809, 4242), (2865, 4218))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00005"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00005"
+        ]
+    },
+    "((4242, 4811), (4334, 4779))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((4943, 5499), (4987, 5455))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((5503, 6732), (5659, 6672))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((6732, 7100), (6812, 7084))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((7224, 8986), (7313, 8762))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C11001",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..56a4681477ae5dca430c8019993eb0134f257880
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29.json
@@ -0,0 +1,17 @@
+{
+    "(None, (433, 4027))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e3c019a4dd8976fe56f5ed7f1a3cf66c06f1796
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10.json
@@ -0,0 +1,18 @@
+{
+    "((1111, 2352), (619, 2352))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..e864ba240eb3f7aa6adb48783838f44a1d6c8f74
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__d01e231560b7068d4149__2023-04-15-14-24-56.json
@@ -0,0 +1,18 @@
+{
+    "((757, 2126), (757, 2098))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__d4bf979d5a225b98a540__2023-04-15-14-41-16.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__d4bf979d5a225b98a540__2023-04-15-14-41-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a742792a62c63a057cc2b4a826379aff8a87fe
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__d4bf979d5a225b98a540__2023-04-15-14-41-16.json
@@ -0,0 +1,15 @@
+{
+    "(None, (818, 2969))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__d74f8262735a1aaedccd__2023-04-15-15-06-01.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__d74f8262735a1aaedccd__2023-04-15-15-06-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..0601ce346576607f5d928cacd4f06b0c283d2567
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__d74f8262735a1aaedccd__2023-04-15-15-06-01.json
@@ -0,0 +1,20 @@
+{
+    "((846, 2644), (458, 2584))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00001",
+            "O02@0092@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00001",
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A005++seq__fccd810e2fd673b25c86__2023-04-15-14-30-47.json b/raw/oakinkv2/program/program_info/scene_01__A005++seq__fccd810e2fd673b25c86__2023-04-15-14-30-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c57490f83db70ed9a49256645c591754451fbf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A005++seq__fccd810e2fd673b25c86__2023-04-15-14-30-47.json
@@ -0,0 +1,18 @@
+{
+    "((530, 1579), (462, 1539))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__085b5f61058e6d772af8__2023-04-21-10-48-54.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__085b5f61058e6d772af8__2023-04-21-10-48-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68cb3e844eac9f6b755e9cfdd6dbc3bdeab5e27
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__085b5f61058e6d772af8__2023-04-21-10-48-54.json
@@ -0,0 +1,18 @@
+{
+    "((1096, 1857), (603, 1857))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..b58fbe892577d1a9dd917abcc754861f9cc2a107
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16.json
@@ -0,0 +1,275 @@
+{
+    "((1073, 2113), (1073, 2093))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((2117, 2918), (2262, 2918))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((2918, 6100), (2918, 5992))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((6100, 7429), (6192, 7457))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((7569, 7681), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "C10001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": null
+    },
+    "((7870, 8710), (7722, 8694))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    },
+    "((8710, 10359), (8786, 10323))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((10359, 11244), (10379, 11516))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    },
+    "((11768, 12525), (11620, 12525))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((12630, 13622), (12817, 13590))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00017",
+            "O02@0015@00016"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00016"
+        ]
+    },
+    "((13622, 14490), (13806, 14454))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00017",
+            "C10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "C10001",
+            "O02@0030@00002"
+        ]
+    },
+    "((14494, 15611), (14635, 15387))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00017",
+            "O02@0015@00016"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00016"
+        ]
+    },
+    "((15703, 16336), (15675, 16336))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((16536, 17661), (16864, 17661))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((17817, 18385), (17725, 18313))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((18385, 19722), (18505, 19614))": {
+        "primitive": "grip",
+        "obj_list": [
+            "C10001",
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((19722, 20695), (19806, 20695))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a39f9702c9c21a116d620fb71e5c9c6c4d4e788
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47.json
@@ -0,0 +1,15 @@
+{
+    "(None, (643, 1094))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0013@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "cap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0013@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__26fd908ae5324a664d27__2023-04-21-10-57-35.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__26fd908ae5324a664d27__2023-04-21-10-57-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f05522651ef59725b71a9e92510b1425d588bf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__26fd908ae5324a664d27__2023-04-21-10-57-35.json
@@ -0,0 +1,31 @@
+{
+    "((676, 1497), (820, 1533))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "(None, (1613, 1777))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0092@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0092@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01d3b8edc560815ccb80abb183646a28237889b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59.json
@@ -0,0 +1,28 @@
+{
+    "((612, 1000), None)": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_onto",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0017@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1121, 1349), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0038@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__2979cde795c345f5b70b__2023-04-21-10-35-54.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__2979cde795c345f5b70b__2023-04-21-10-35-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ebe61344b27a16100ea85ea2ed8b3cc1d869af
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__2979cde795c345f5b70b__2023-04-21-10-35-54.json
@@ -0,0 +1,15 @@
+{
+    "(None, (720, 2321))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__32290212848a70175823__2023-04-21-10-26-59.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__32290212848a70175823__2023-04-21-10-26-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c83b72fd17003b5696d2badc88992db3a3b1d23
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__32290212848a70175823__2023-04-21-10-26-59.json
@@ -0,0 +1,15 @@
+{
+    "(None, (738, 2487))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__3783890ba75da6556f48__2023-04-21-10-24-03.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__3783890ba75da6556f48__2023-04-21-10-24-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..2181276a1441c72d78d20e5ab4e753888b7436b2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__3783890ba75da6556f48__2023-04-21-10-24-03.json
@@ -0,0 +1,18 @@
+{
+    "((643, 1303), (662, 1263))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__4602f51364aa3751d953__2023-04-21-10-56-14.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__4602f51364aa3751d953__2023-04-21-10-56-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e43dc4ebe3f3725c09161ab5a375900389a08c2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__4602f51364aa3751d953__2023-04-21-10-56-14.json
@@ -0,0 +1,31 @@
+{
+    "((971, 1551), (763, 1631))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    },
+    "(None, (1731, 1951))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__7055a02d8903613ebfd6__2023-04-21-10-21-03.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__7055a02d8903613ebfd6__2023-04-21-10-21-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bcd56da599638fa27b9a18cd04d140276b4501
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__7055a02d8903613ebfd6__2023-04-21-10-21-03.json
@@ -0,0 +1,19 @@
+{
+    "((766, 1707), (629, 1671))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00013",
+            "O02@0015@00014"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00013",
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00013"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__70ca2910d70064f96b6b__2023-04-21-10-28-44.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__70ca2910d70064f96b6b__2023-04-21-10-28-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..707d5ddc00014ce85793413e62a2af2a8a1f2f95
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__70ca2910d70064f96b6b__2023-04-21-10-28-44.json
@@ -0,0 +1,15 @@
+{
+    "((712, 2113), None)": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0011@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c1ab1a7e73f313579c7550670dd979d2d72382
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48.json
@@ -0,0 +1,18 @@
+{
+    "((650, 1787), (678, 1787))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__a2420e83341621bb75d0__2023-04-21-10-46-43.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__a2420e83341621bb75d0__2023-04-21-10-46-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a9e7826f24a20aa018cb2b6bb2dde09404c459
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__a2420e83341621bb75d0__2023-04-21-10-46-43.json
@@ -0,0 +1,18 @@
+{
+    "((844, 2334), (615, 2346))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..16cc05b21c09323faa31ae9c49d185535b356394
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__a4e00c1df88966b407a0__2023-04-21-11-42-43.json
@@ -0,0 +1,178 @@
+{
+    "((1019, 2260), (1255, 2248))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0015@00010"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00010"
+        ]
+    },
+    "((2264, 3709), (2404, 3673))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((3713, 4738), (3757, 4558))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0015@00010"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00010",
+            "O02@0015@00011"
+        ]
+    },
+    "((5050, 6307), (4934, 6388))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((6307, 7477), (6585, 7417))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00005",
+            "C11001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "C11001"
+        ]
+    },
+    "((7481, 8666), (7577, 8666))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    },
+    "((8858, 9683), (8850, 9583))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C11001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((9839, 10976), (10087, 11060))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((11188, 11772), (11060, 11692))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C11001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (11924, 12877))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((13053, 13730), (13057, 13734))": {
+        "primitive": "stir",
+        "obj_list": [
+            "C11001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "C11001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b61d794d456d76bb195f343a1fdf751591d465
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24.json
@@ -0,0 +1,17 @@
+{
+    "(None, (668, 2674))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__c11fb8b902b97ca04857__2023-04-21-10-24-26.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__c11fb8b902b97ca04857__2023-04-21-10-24-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34f3b879346c5493fe295c721f33d8b5b092c7e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__c11fb8b902b97ca04857__2023-04-21-10-24-26.json
@@ -0,0 +1,18 @@
+{
+    "((767, 1191), (579, 1115))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a50cca319c366054a60cde9125bd68433a272a8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24.json
@@ -0,0 +1,15 @@
+{
+    "(None, (807, 1276))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0013@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "uncap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0013@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..474b6f5c75c8839da67c3058ff0b211a82bf6292
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58.json
@@ -0,0 +1,18 @@
+{
+    "((691, 1876), (752, 1848))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00014",
+            "O02@0015@00013"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00014"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00013"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__de586f670a1f19a58f4a__2023-04-21-10-53-19.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__de586f670a1f19a58f4a__2023-04-21-10-53-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..6061b630c53d2c0bcb6f5cd85cbbe184e132934c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__de586f670a1f19a58f4a__2023-04-21-10-53-19.json
@@ -0,0 +1,18 @@
+{
+    "((376, 1809), (764, 1713))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00004",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bea6e625fffe338a762a3705ec86f59fb1407de
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__e87413a2e162e82f91f9__2023-04-21-10-40-02.json
@@ -0,0 +1,43 @@
+{
+    "(None, (725, 1157))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "(None, (1359, 1823))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0094@00001"
+        ]
+    },
+    "((1647, 2523), (1879, 2523))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "assemble",
+        "primitive_rh": "assemble",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0094@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..6281ddb9c96a335f991f1f6df9e7957a6abee6c4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22.json
@@ -0,0 +1,18 @@
+{
+    "((593, 1914), (905, 1910))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00004",
+            "S20005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "S20005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A007++seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40.json b/raw/oakinkv2/program/program_info/scene_01__A007++seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..b40a753d3268bf31fb6790c327638fef078ad77b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A007++seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40.json
@@ -0,0 +1,18 @@
+{
+    "((923, 1824), (651, 1808))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..54c3c1323447a407e5d5674d53365740d039c92c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39.json
@@ -0,0 +1,18 @@
+{
+    "((525, 2054), (401, 2070))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00017",
+            "O02@0015@00016"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00016"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__147fe54c0f342a438cce__2023-05-09-18-48-36.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__147fe54c0f342a438cce__2023-05-09-18-48-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..83650a7c054427df59d6e34236029a7ebf3fc226
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__147fe54c0f342a438cce__2023-05-09-18-48-36.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1039, 1916))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O93001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O93001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__1ad2eda06874714a15b3__2023-05-09-18-58-42.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__1ad2eda06874714a15b3__2023-05-09-18-58-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a8a8366e8063df8635fa16462df3693871f266
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__1ad2eda06874714a15b3__2023-05-09-18-58-42.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1053, 3691))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "wipe",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__2630520df6141d677761__2023-05-09-18-55-32.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__2630520df6141d677761__2023-05-09-18-55-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..b35b61b47528e58bb345a99080b8eb193c4f76a7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__2630520df6141d677761__2023-05-09-18-55-32.json
@@ -0,0 +1,18 @@
+{
+    "((1867, 7631), (1023, 8528))": {
+        "primitive": "scrape",
+        "obj_list": [
+            "C12001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scrape",
+        "obj_list_lh": [
+            "C12001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__40db17fed1c0f6f70765__2023-04-23-11-44-50.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__40db17fed1c0f6f70765__2023-04-23-11-44-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3f686ef1f438a26639dc6d85557343051caf3a9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__40db17fed1c0f6f70765__2023-04-23-11-44-50.json
@@ -0,0 +1,33 @@
+{
+    "((532, 3059), (1032, 2997))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "S10001",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((3059, 3526), (3121, 3526))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "S10001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "S10001"
+        ],
+        "obj_list_rh": [
+            "S10001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc843163289b399fe675b3c4504ecd274c01b9a4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__450509366eaacff14b71__2023-05-09-19-09-07.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1407, 4013))": {
+        "primitive": "spread",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "spread",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..b34bfdc9d4c3cec471de9ddc4523706ff0042d2c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39.json
@@ -0,0 +1,18 @@
+{
+    "((395, 972), (395, 972))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__4aefa542ed038308729c__2023-04-23-11-46-39.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__4aefa542ed038308729c__2023-04-23-11-46-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..fefd260bc2e6588451c334a689b845dabbdbc4ca
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__4aefa542ed038308729c__2023-04-23-11-46-39.json
@@ -0,0 +1,17 @@
+{
+    "((451, 2557), (459, 2557))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..07bd33aef5c04bb6d25c7f9cccc791f51ea0b922
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48.json
@@ -0,0 +1,15 @@
+{
+    "(None, (634, 2704))": {
+        "primitive": "pour",
+        "obj_list": [
+            "S10021"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10021"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa77fd9d89e9e64e23d8fb2f473626081e80d9f3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38.json
@@ -0,0 +1,15 @@
+{
+    "(None, (452, 1089))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0013@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "uncap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0013@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..574958a4d35e4a0dc9c2519b8271e844ea0c2ec5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18.json
@@ -0,0 +1,18 @@
+{
+    "((516, 1112), (516, 1112))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__61886a6456bb8cad10b4__2023-05-09-19-17-58.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__61886a6456bb8cad10b4__2023-05-09-19-17-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..399ec856ea72dc2ece5db0e612f49a1b433e5a40
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__61886a6456bb8cad10b4__2023-05-09-19-17-58.json
@@ -0,0 +1,123 @@
+{
+    "(None, (1476, 2280))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((2180, 3101), None)": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_gate",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2372, 3245))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((3101, 4522), (3437, 4494))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (4750, 4930))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "(None, (6231, 7276))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "open_gate",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((7144, 8348), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7548, 8224))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C12001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C12001"
+        ]
+    },
+    "((8348, 9189), (8348, 9117))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__674e82d8f45bf9d17247__2023-05-09-18-40-09.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__674e82d8f45bf9d17247__2023-05-09-18-40-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc70d4aa8a94024d9fc1a4bfd7e742788f67f95
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__674e82d8f45bf9d17247__2023-05-09-18-40-09.json
@@ -0,0 +1,17 @@
+{
+    "(None, (567, 5561))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d96c7b408498ca52052c764f05e49dcc90924c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28.json
@@ -0,0 +1,41 @@
+{
+    "(None, (996, 1120))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "(None, (1537, 2601))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "(None, (2870, 3070))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__6803df6444210e558b06__2023-04-23-11-33-27.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__6803df6444210e558b06__2023-04-23-11-33-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..533ff059d7cca35e3d0d9a0c7b30d5d67498b4fe
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__6803df6444210e558b06__2023-04-23-11-33-27.json
@@ -0,0 +1,18 @@
+{
+    "((439, 1576), (387, 1548))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__709821691ed6e9de0ecf__2023-04-23-11-38-59.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__709821691ed6e9de0ecf__2023-04-23-11-38-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0b73d79d68e08ea0776b0c27a33e7cdb4f380a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__709821691ed6e9de0ecf__2023-04-23-11-38-59.json
@@ -0,0 +1,19 @@
+{
+    "((435, 1612), (423, 1768))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00017",
+            "O02@0015@00016"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00016",
+            "O02@0015@00017"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__9971521c165f863aae09__2023-05-09-18-50-56.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__9971521c165f863aae09__2023-05-09-18-50-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60c5487198e1b576d1d75110ce8fbc389d6026e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__9971521c165f863aae09__2023-05-09-18-50-56.json
@@ -0,0 +1,28 @@
+{
+    "(None, (924, 2238))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0031@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0031@00002"
+        ]
+    },
+    "(None, (2594, 3699))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3937f41a75febd14deb867b3ba4447d1979ee77
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11.json
@@ -0,0 +1,18 @@
+{
+    "((325, 2808), (494, 2732))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..0432c575853a8941e0ebb1179c6db433611b5cb0
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__a956952e2e29a7689f13__2023-05-09-19-06-12.json
@@ -0,0 +1,18 @@
+{
+    "((1961, 3726), (1044, 4231))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..eedcc6485baabcdc8e8952821295785ab2483fcb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06.json
@@ -0,0 +1,15 @@
+{
+    "(None, (470, 990))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0013@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "cap",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0013@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__aef7ccef2947d1344274__2023-05-09-19-04-10.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__aef7ccef2947d1344274__2023-05-09-19-04-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..daaec6598a7186f2526e2019b5e11de3ae3dad75
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__aef7ccef2947d1344274__2023-05-09-19-04-10.json
@@ -0,0 +1,18 @@
+{
+    "((1722, 4556), (929, 4556))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc903a419f10adba63b30ebc5a17d313cd7a0927
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__af83649f6f2feeccb84a__2023-04-23-11-47-54.json
@@ -0,0 +1,17 @@
+{
+    "((533, 2370), (533, 2370))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..74be52383e112a43442419688731ad777ef1be9b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__c5cb5d97670913757f41__2023-05-09-18-42-57.json
@@ -0,0 +1,15 @@
+{
+    "(None, (734, 3506))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json b/raw/oakinkv2/program/program_info/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..114ae0297c749900981da14a5d0f2872223ea9d6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__A008++seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20.json
@@ -0,0 +1,15 @@
+{
+    "(None, (564, 2485))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5e28c398bce8fd1041542d8b6a725051ee792f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33.json
@@ -0,0 +1,15 @@
+{
+    "(None, (385, 3699))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "scoop",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..f042bb5e062bcc2b74e360591e1a0e95c271edde
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36.json
@@ -0,0 +1,18 @@
+{
+    "((1285, 2546), (961, 2546))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..618ec686d3308e53fc6d32e1f744a4b2ba75bbcf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__13d539d042fb98c2e724__2023-04-13-19-05-47.json
@@ -0,0 +1,18 @@
+{
+    "((803, 2244), (1059, 1972))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__171c4910388526f5aae1__2023-04-13-19-09-31.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__171c4910388526f5aae1__2023-04-13-19-09-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..1884d78f0edc016bc6d05148ba0559ab0dffa88d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__171c4910388526f5aae1__2023-04-13-19-09-31.json
@@ -0,0 +1,18 @@
+{
+    "((785, 2795), (1001, 2518))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb8e8aa2f3df423047ac12dddc86380f25cb2bfb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05.json
@@ -0,0 +1,18 @@
+{
+    "((1120, 3109), (816, 2729))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00004",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3036eb75302bf23ee64bd856d27a4f3163349d7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39.json
@@ -0,0 +1,22 @@
+{
+    "((1454, 2939), (945, 2907))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002",
+            "O02@0017@00002",
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "grip",
+        "obj_list_lh": [
+            "O02@0017@00002",
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac109aef83d28787c62bc5f5da638a90a0504d7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04.json
@@ -0,0 +1,18 @@
+{
+    "((741, 2442), (1033, 2418))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00017",
+            "O02@0015@00016"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00016"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9f2d3a7bc1bf8e1a7273a12a24a72cb55e432e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20.json
@@ -0,0 +1,74 @@
+{
+    "(None, (922, 1455))": {
+        "primitive": "place_onto",
+        "obj_list": [
+            "O02@0017@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_onto",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00001"
+        ]
+    },
+    "(None, (1679, 1786))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0038@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0038@00001"
+        ]
+    },
+    "((2119, 2501), (2143, 2463))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((2501, 4217), (2540, 4173))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "((4217, 4629), (4261, 4625))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__2501290bf9590d752c3f__2023-04-13-20-10-44.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__2501290bf9590d752c3f__2023-04-13-20-10-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..9226a4eea03319dbfe0f18f84e0f66b13a28973a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__2501290bf9590d752c3f__2023-04-13-20-10-44.json
@@ -0,0 +1,18 @@
+{
+    "((721, 3299), (1298, 3299))": {
+        "primitive": "wipe",
+        "obj_list": [
+            "O02@0026@00001",
+            "O02@0100@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "wipe",
+        "obj_list_lh": [
+            "O02@0026@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0100@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__2d90f5832a84b604df3c__2023-04-13-19-18-14.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__2d90f5832a84b604df3c__2023-04-13-19-18-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..7547837debda0b250beac3e32ccfb3196fc04032
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__2d90f5832a84b604df3c__2023-04-13-19-18-14.json
@@ -0,0 +1,18 @@
+{
+    "((778, 2119), (1227, 2103))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__453b72e65d60f319b672__2023-04-13-19-34-00.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__453b72e65d60f319b672__2023-04-13-19-34-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b2d234d589982f078172c9301092d47fee40b3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__453b72e65d60f319b672__2023-04-13-19-34-00.json
@@ -0,0 +1,18 @@
+{
+    "((661, 1558), (969, 1558))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0031@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0031@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70634fb2bd60b4295cad427de3eef6d672abdfb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56.json
@@ -0,0 +1,18 @@
+{
+    "((732, 2730), (1048, 2397))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00017",
+            "O02@0015@00016"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00017"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00016"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__598a5433c7f9d14d1697__2023-04-13-20-33-59.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__598a5433c7f9d14d1697__2023-04-13-20-33-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b203728a285d0609974e48ec56c70f59ff4ccf6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__598a5433c7f9d14d1697__2023-04-13-20-33-59.json
@@ -0,0 +1,18 @@
+{
+    "((1032, 2993), (660, 2861))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0092@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0092@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ebe2e6b3ea36a9a264cacf98dc58375efec9b3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39.json
@@ -0,0 +1,49 @@
+{
+    "((624, 912), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0094@00001",
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0094@00001",
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": null
+    },
+    "((999, 1364), (999, 1280))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0094@00004",
+            "O02@0094@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0094@00001"
+        ]
+    },
+    "((1364, 3238), (1448, 3314))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0094@00004",
+            "O02@0020@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0094@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__6713218067ae5432d3f4__2023-04-13-19-19-05.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__6713218067ae5432d3f4__2023-04-13-19-19-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b11eab017c67e2093bda66c022ca76957786d4e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__6713218067ae5432d3f4__2023-04-13-19-19-05.json
@@ -0,0 +1,49 @@
+{
+    "((757, 1655), (1062, 1655))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((1711, 2063), (1711, 2063))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "cap",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ]
+    },
+    "((2139, 2475), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__733f97b08b2e1413967d__2023-04-13-19-08-31.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__733f97b08b2e1413967d__2023-04-13-19-08-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb360fbc84a91c0e41e30d0297cc7bc24d95d2a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__733f97b08b2e1413967d__2023-04-13-19-08-31.json
@@ -0,0 +1,18 @@
+{
+    "((815, 2472), (1115, 2476))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00005",
+            "O02@0015@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..85dd53adbc94b988cd8f9b7098f9ee1aaee1fdec
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__7415df221fded77cf598__2023-04-13-20-38-59.json
@@ -0,0 +1,31 @@
+{
+    "(None, (703, 1040))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0090@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "assemble",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0090@00001"
+        ]
+    },
+    "((1641, 2225), (1352, 2189))": {
+        "primitive": "assemble",
+        "obj_list": [
+            "O02@0094@00001",
+            "O02@0094@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "assemble",
+        "obj_list_lh": [
+            "O02@0094@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0094@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71b6127dae371f374feec3123696b18def917c3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__77461f70ecd1a035625b__2023-04-04-15-57-58.json
@@ -0,0 +1,18 @@
+{
+    "((1481, 3124), (918, 3011))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d2e563b5c96aa4e504f540bb47d2d6adffb539e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55.json
@@ -0,0 +1,18 @@
+{
+    "((698, 3432), (1386, 2931))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "stir",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__8ec658be365180b783c2__2023-04-13-19-04-55.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__8ec658be365180b783c2__2023-04-13-19-04-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..4904a459e3516b87f5fb6106f9090e764624d68a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__8ec658be365180b783c2__2023-04-13-19-04-55.json
@@ -0,0 +1,18 @@
+{
+    "((1071, 2512), (1555, 2512))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7ee4534c04f0cd5b508c26754c0e5285155482
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__921482c3e31429d8b61a__2023-04-04-15-50-32.json
@@ -0,0 +1,15 @@
+{
+    "(None, (826, 2053))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0672984975c874e70c8370306657b40f0f65565
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02.json
@@ -0,0 +1,284 @@
+{
+    "(None, (800, 1264))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    },
+    "((1720, 3189), (2225, 3237))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0015@00010"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00010"
+        ]
+    },
+    "((3189, 4911), (3394, 4963))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    },
+    "((4911, 6292), (5127, 5955))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00011",
+            "O02@0015@00010"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00011"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00010"
+        ]
+    },
+    "((6504, 8341), (6948, 8329))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    },
+    "((8345, 9946), (8449, 10006))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0010@00003",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003",
+            "O02@0015@00001"
+        ]
+    },
+    "((9946, 11399), (10142, 11131))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00002",
+            "O02@0015@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00001"
+        ]
+    },
+    "((11647, 12716), (12164, 12716))": {
+        "primitive": "uncap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((12716, 13709), (12780, 13693))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0010@00003",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003",
+            "O02@0015@00019"
+        ]
+    },
+    "((13713, 14089), (13785, 14089))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00020",
+            "O02@0015@00019"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019"
+        ]
+    },
+    "((14137, 14301), (14137, 14301))": {
+        "primitive": "cap",
+        "obj_list": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "cap",
+        "primitive_rh": "cap",
+        "obj_list_lh": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00019",
+            "O02@0015@00020"
+        ]
+    },
+    "((14349, 14662), (14349, 14662))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0015@00020"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    },
+    "((15182, 17119), (15322, 17119))": {
+        "primitive": "scoop",
+        "obj_list": [
+            "O02@0017@00002",
+            "O02@0030@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "scoop",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0030@00002"
+        ]
+    },
+    "(None, (17588, 18945))": {
+        "primitive": "stir",
+        "obj_list": [
+            "O02@0033@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00001"
+        ]
+    },
+    "(None, (19125, 19489))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((19393, 19645), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0032@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (19561, 20890))": {
+        "primitive": "grip",
+        "obj_list": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "grip",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0032@00001",
+            "O02@0032@00002"
+        ]
+    },
+    "((21467, 23268), (22019, 23083))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0011@00001",
+            "O02@0010@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0011@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0010@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__9ed971eba20293345ab6__2023-04-13-20-25-04.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__9ed971eba20293345ab6__2023-04-13-20-25-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..a80a0a94fba75f69ded06d47ce5d47aa97c6be1b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__9ed971eba20293345ab6__2023-04-13-20-25-04.json
@@ -0,0 +1,18 @@
+{
+    "((990, 1983), (690, 1866))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__b9695e35fd3c75db4104__2023-04-13-18-59-44.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__b9695e35fd3c75db4104__2023-04-13-18-59-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b057f4f9dfea07b7ced770f10cb90f47fb5cc1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__b9695e35fd3c75db4104__2023-04-13-18-59-44.json
@@ -0,0 +1,18 @@
+{
+    "((702, 2467), (774, 2447))": {
+        "primitive": "pour",
+        "obj_list": [
+            "O02@0010@00003",
+            "O02@0015@00020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour",
+        "obj_list_lh": [
+            "O02@0010@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00020"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__ced688ab0e1a80840f16__2023-04-13-20-30-37.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__ced688ab0e1a80840f16__2023-04-13-20-30-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..259e07e73f00e65266f888a4237d986795e4f530
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__ced688ab0e1a80840f16__2023-04-13-20-30-37.json
@@ -0,0 +1,18 @@
+{
+    "((1065, 2826), (736, 2742))": {
+        "primitive": "cut",
+        "obj_list": [
+            "O02@0090@00002",
+            "O02@0020@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "cut",
+        "obj_list_lh": [
+            "O02@0090@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0020@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_01__O001++seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30.json b/raw/oakinkv2/program/program_info/scene_01__O001++seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ce57ccb6c2aef9f1bd8c57e2dd36d0a94ce5e6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_01__O001++seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30.json
@@ -0,0 +1,142 @@
+{
+    "((663, 1058), (799, 1020))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((1058, 1332), (1096, 1300))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "(None, (1604, 2237))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((1948, 2823), (2445, 2745))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((2823, 3085), (2901, 3073))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0039@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001"
+        ]
+    },
+    "((4654, 5078), (4862, 4990))": {
+        "primitive": "trigger_lever",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "trigger_lever",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00001",
+            "O02@0039@00004"
+        ]
+    },
+    "((5078, 6067), (5167, 5331))": {
+        "primitive": "open_gate",
+        "obj_list": [
+            "O02@0039@00001",
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_gate",
+        "obj_list_lh": [
+            "O02@0039@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    },
+    "((6247, 6391), (5451, 6391))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0017@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0017@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0017@00002"
+        ]
+    },
+    "((6632, 7104), (6632, 7016))": {
+        "primitive": "close_gate",
+        "obj_list": [
+            "O02@0039@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_gate",
+        "primitive_rh": "close_gate",
+        "obj_list_lh": [
+            "O02@0039@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0039@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__03142eab556e3f4d2c60__2023-04-15-18-42-27.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__03142eab556e3f4d2c60__2023-04-15-18-42-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..caaca5dc78101b479c8bcc8f3d5d6cc700e3e2e6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__03142eab556e3f4d2c60__2023-04-15-18-42-27.json
@@ -0,0 +1,18 @@
+{
+    "((2424, 3961), (2039, 3933))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__0326b05031e36e846485__2023-04-15-18-46-12.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__0326b05031e36e846485__2023-04-15-18-46-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb8d6445bf82823407d88e99a9eb2960adef2be
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__0326b05031e36e846485__2023-04-15-18-46-12.json
@@ -0,0 +1,20 @@
+{
+    "((1512, 3106), (1729, 3014))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a31f257b4e7d0e301657fffd7027d4eb1f4ab7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20.json
@@ -0,0 +1,47 @@
+{
+    "((1509, 2870), (1509, 2870))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3695, 4748), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5324, 6849), (5324, 6849))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__16df147a7132432bf9e4__2023-04-18-15-14-11.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__16df147a7132432bf9e4__2023-04-18-15-14-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6d860ea1c43b8160d7252804c83ff6f190f944
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__16df147a7132432bf9e4__2023-04-18-15-14-11.json
@@ -0,0 +1,36 @@
+{
+    "((1000, 2405), (1016, 2265))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((2625, 3666), (2681, 3666))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..3328230d96b91ee016cee52b7672d744f70d5b01
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53.json
@@ -0,0 +1,168 @@
+{
+    "((2362, 4203), (1509, 3591))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "(None, (3699, 4203))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0054@00001"
+        ]
+    },
+    "(None, (4335, 4696))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (4896, 5348))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "(None, (5548, 6129))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (6189, 6293))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (7049, 8158))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((8378, 10384), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (8666, 9623))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "(None, (10035, 10932))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((11232, 12365), (11232, 12910))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0056@00002",
+            "O02@0056@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0056@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0056@00001"
+        ]
+    },
+    "((13418, 14995), (13418, 14995))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..270711abfb874b7b1c4c0da67966f38657827c67
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__1dfb92d70d50719de591__2023-04-15-20-05-49.json
@@ -0,0 +1,121 @@
+{
+    "((1631, 2555), (1507, 2531))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (2883, 3532))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (3532, 3976))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((3812, 4453), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((4669, 5838), (4349, 5914))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5866, 7507), (6206, 8063))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((7687, 9917), (8544, 10121))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((10433, 13463), (10125, 13327))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__25281b1248ce06ef00f4__2023-04-15-18-50-17.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__25281b1248ce06ef00f4__2023-04-15-18-50-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c870b67a0a57830b4d34b74304c50f0eb177aa1d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__25281b1248ce06ef00f4__2023-04-15-18-50-17.json
@@ -0,0 +1,18 @@
+{
+    "((1299, 2708), (1535, 2912))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__3599b99612c08fedc88a__2023-04-15-18-43-51.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__3599b99612c08fedc88a__2023-04-15-18-43-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ca3ba23bbd41c48af1607eb01be6fcb1cacb51
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__3599b99612c08fedc88a__2023-04-15-18-43-51.json
@@ -0,0 +1,18 @@
+{
+    "((2085, 3786), (1809, 3818))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__374a762fe82568017e36__2023-04-15-19-44-49.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__374a762fe82568017e36__2023-04-15-19-44-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..45bd193be9153b48da8f2e9e6872fdf6c8333d59
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__374a762fe82568017e36__2023-04-15-19-44-49.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1089, 3063))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__379379a9898fec9a49dd__2023-04-15-19-14-26.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__379379a9898fec9a49dd__2023-04-15-19-14-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef71d0fc70701690011e7a6cde629fdc3e9944c8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__379379a9898fec9a49dd__2023-04-15-19-14-26.json
@@ -0,0 +1,18 @@
+{
+    "((2510, 3875), (1530, 3875))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0080@00001",
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": [
+            "O02@0080@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__4095256153f086ed7e72__2023-04-15-19-45-48.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__4095256153f086ed7e72__2023-04-15-19-45-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8071622b3bfa2f6f5478026f45a002088fd111a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__4095256153f086ed7e72__2023-04-15-19-45-48.json
@@ -0,0 +1,18 @@
+{
+    "((1159, 3004), (1619, 2864))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__4330d8d30c1293560d96__2023-04-15-19-04-36.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__4330d8d30c1293560d96__2023-04-15-19-04-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..3133386e8cdc3ffeb9697fb9eb156b9300debccc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__4330d8d30c1293560d96__2023-04-15-19-04-36.json
@@ -0,0 +1,47 @@
+{
+    "((1454, 3595), (1454, 3595))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ]
+    },
+    "((4232, 4956), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5757, 7202), (5757, 7202))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c41c2f81d26c67db2d0e68a84f8f421c2d00a47
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29.json
@@ -0,0 +1,52 @@
+{
+    "((1176, 3153), (1448, 2745))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((3290, 5035), (2993, 5503))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((5299, 6788), (5659, 6756))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce19a5c6531a69ff2e41e1186ef61148d2ed94b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02.json
@@ -0,0 +1,19 @@
+{
+    "((1679, 3884), (1635, 3884))": {
+        "primitive": "close_book",
+        "obj_list": [
+            "O02@0060@00002",
+            "O02@0060@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_book",
+        "primitive_rh": "close_book",
+        "obj_list_lh": [
+            "O02@0060@00002",
+            "O02@0060@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0060@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb3056c95c06894436ccdb78c98e81575cd16a4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__56210cebdeed66d8702f__2023-04-22-14-22-29.json
@@ -0,0 +1,15 @@
+{
+    "((2181, 3605), (1491, 3553))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..72502d7a6e1591cbd9ecb1cf5c0afdbf9686d7aa
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57.json
@@ -0,0 +1,18 @@
+{
+    "((2972, 8578), (3032, 8524))": {
+        "primitive": "remove_lightbulb",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab752907b75c638380627bfaa6d61d38e2d5ecb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56.json
@@ -0,0 +1,20 @@
+{
+    "((2968, 7415), (1474, 7259))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0056@00001",
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0056@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..8156fa659ff2b893a6d0d5b3697aa63214871499
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22.json
@@ -0,0 +1,17 @@
+{
+    "((1388, 2681), (2357, 2681))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1178d17c9bd2f04949577c7d95ecbedf7a1211a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40.json
@@ -0,0 +1,70 @@
+{
+    "((1742, 2375), (1374, 2807))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00002",
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    },
+    "((2715, 3244), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3664, 5581), (3167, 6734))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    },
+    "((5857, 7062), None)": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6874, 7887))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70b2b1e16420a809f7929e66f54313272246f79
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__7a72028294223f47a2ab__2023-04-18-14-45-56.json
@@ -0,0 +1,44 @@
+{
+    "((1193, 1489), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1641, 2894), (2005, 3206))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "(None, (3250, 3639))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..f16feaa66ace4a5d24a4bf741b7acddaab1c538b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44.json
@@ -0,0 +1,20 @@
+{
+    "((1676, 3661), (1956, 3473))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fabaee665a5e4ad77f12bb41badfb11b0dc1446
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54.json
@@ -0,0 +1,58 @@
+{
+    "((1387, 1667), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2415, 3680), (2415, 3680))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (3880, 4861))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((5365, 6606), (5365, 6606))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..87733fcb612a9d9107ca23f83f4fd0c15b4ca9ea
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json
@@ -0,0 +1,17 @@
+{
+    "((2373, 4645), (2491, 4573))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e53ba11aa2c096466e6fe390f13e61d4c95513
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__a2b162144bebd1c592b2__2023-04-15-19-09-07.json
@@ -0,0 +1,47 @@
+{
+    "((1193, 2526), (1766, 2494))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "(None, (2923, 4424))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5220, 5809), (4724, 5845))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd73384bc154fb67e15749aee535b66de32b4b57
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__a3323f998334c09c8f2f__2023-04-22-15-48-41.json
@@ -0,0 +1,162 @@
+{
+    "((1481, 2610), (1481, 2610))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (2838, 3415))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "(None, (3415, 4143))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((4700, 5444), (4700, 5384))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((5608, 5837), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (5785, 5993))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((5885, 7554), (6313, 7606))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "(None, (8122, 8915))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((9179, 10032), (9179, 10032))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((10444, 11140), (10552, 11213))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((11293, 11593), (11281, 11605))": {
+        "primitive": "use_gamecontroller",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "use_gamecontroller",
+        "primitive_rh": "use_gamecontroller",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..616bb275ae8672e08f07308e7d5315e235c4977a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11.json
@@ -0,0 +1,47 @@
+{
+    "((4062, 8399), (3017, 8321))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "((11447, 12276), (10303, 12712))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "(None, (15114, 15514))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..9357bfe86d2a70a7f08fbd2680fa4ebfcf2428f5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02.json
@@ -0,0 +1,155 @@
+{
+    "((1128, 2098), (1128, 2098))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ]
+    },
+    "((2703, 3391), (2703, 3359))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((3757, 4512), (3757, 4552))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((5117, 6009), (5117, 6009))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (6165, 6718))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((7146, 7726), (7114, 8111))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "(None, (8379, 9404))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((9797, 10505), (9797, 10505))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((10573, 11097), (10573, 11097))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ]
+    },
+    "(None, (11498, 11705))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1316911cfe3c5bde2502d6a3181acd3a966a226
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39.json
@@ -0,0 +1,45 @@
+{
+    "((1404, 4731), (1524, 4663))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5476, 11043), (6248, 10985))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((11986, 14693), (12706, 14607))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd885aabde985d8124bc97b0672d40813d433a9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59.json
@@ -0,0 +1,43 @@
+{
+    "((1308, 1573), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1857, 2369))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((2089, 3034), (2441, 3034))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..b561c105a9d84a66466124ade7ee2c44ca2c4ae4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32.json
@@ -0,0 +1,73 @@
+{
+    "((943, 2255), (1119, 2211))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((2784, 4713), None)": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": null,
+        "obj_list_lh": [],
+        "obj_list_rh": null
+    },
+    "((4713, 5021), (4713, 4853))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((5021, 6098), (5190, 6098))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((6623, 8368), (6623, 8368))": {
+        "primitive": "use_gamecontroller",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "use_gamecontroller",
+        "primitive_rh": "use_gamecontroller",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c382beb99fd0618745cd57c9850ffba8637c720
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__e6d2be38fe14846654b2__2023-04-22-14-20-56.json
@@ -0,0 +1,60 @@
+{
+    "((2035, 2890), (1298, 3222))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3030, 3695), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00011"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3563, 5387))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((5387, 6280), (5387, 6876))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..57dd5681b8c71bbd0d9cadb2616d20ef5e86df7b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__e78166802df1a79107b6__2023-04-15-19-11-07.json
@@ -0,0 +1,49 @@
+{
+    "((1328, 2538), (1384, 2538))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (2990, 4243))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((4883, 5700), (4623, 5700))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..b465558afa3edf8fd34b1f42d1dbb34329275949
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56.json
@@ -0,0 +1,60 @@
+{
+    "((1735, 2080), (1698, 2404))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00009",
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00009"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    },
+    "((2284, 2981), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00008"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2737, 6668))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    },
+    "((7308, 7661), (6668, 7661))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00009",
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00009"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a56b09c7aae974d768cb6ffb95ff5ab2cd5802
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f040823652e57df04efa__2023-04-18-15-09-12.json
@@ -0,0 +1,31 @@
+{
+    "((1045, 1401), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1810, 2798), (1990, 2798))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b205021deedb6245ebb5b8a956ba7cff4c50a1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f1029b6690be6153cd26__2023-04-15-19-54-18.json
@@ -0,0 +1,139 @@
+{
+    "((1961, 3058), (1405, 3058))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "C51001",
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "C51001",
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((3518, 4767), (3518, 4857))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((4947, 5143), (4857, 5143))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((5147, 6965), (5460, 6901))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((6965, 7697), (7173, 7653))": {
+        "primitive": "use_mouse",
+        "obj_list": [
+            "O02@0053@00002",
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "use_mouse",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((7809, 8462), (7809, 8462))": {
+        "primitive": "use_keyboard",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "use_keyboard",
+        "primitive_rh": "use_keyboard",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((8562, 9394), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (8730, 9354))": {
+        "primitive": "use_mouse",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "use_mouse",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((9535, 10027), (9535, 10027))": {
+        "primitive": "use_keyboard",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "use_keyboard",
+        "primitive_rh": "use_keyboard",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..d406bea2bc3ec974001174b8068665315c33178e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f1114564625b503789c8__2023-04-15-19-56-33.json
@@ -0,0 +1,91 @@
+{
+    "((1402, 1446), (1402, 1446))": {
+        "primitive": "use_keyboard",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "use_keyboard",
+        "primitive_rh": "use_keyboard",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((1450, 2063), (1550, 1863))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((2063, 2779), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2883, 4216), (2627, 4040))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((4380, 4637), (4380, 5365))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((6434, 7415), (6434, 7415))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce7df89a5b5c92a524f4c130ad6479f1fb856686
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32.json
@@ -0,0 +1,15 @@
+{
+    "(None, (2431, 2931))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23d93e2fdec1cb8448c9748ad8adb0363b950c2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__f639df32f29fdc405c2a__2023-04-18-14-51-24.json
@@ -0,0 +1,60 @@
+{
+    "((1399, 1692), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2376, 3193), (2376, 3193))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3869, 4710), (3869, 4710))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0049@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((4994, 6055), (4994, 6055))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..488bdd313bf005d5f2b2f14011e661ae6692fd3b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__fbc7482529e4350bba74__2023-04-22-16-10-37.json
@@ -0,0 +1,82 @@
+{
+    "((1546, 2318), (1113,2571))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2819, 3331), (2571, 5693))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((5889, 7230), (5693, 7230))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((8271, 13647), (8939, 13647))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((15112, 16108), (14231, 16761))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f1316e4f4ea64f51e83cded3a43f825a97f493c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52.json
@@ -0,0 +1,18 @@
+{
+    "((2435, 4076), (1366, 4661))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json b/raw/oakinkv2/program/program_info/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..e494bebe377f798143a9615a32ebc2fb6635c902
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A001++seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36.json
@@ -0,0 +1,30 @@
+{
+    "((1882, 2809), (1958, 2755))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    },
+    "(None, (2863, 4476))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..a73c4d2f2856248d6920550f42d3b2ef83429f52
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__105a5b661023ffe36518__2023-04-17-15-37-57.json
@@ -0,0 +1,18 @@
+{
+    "((860, 1665), (872, 1709))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a50bbfde6d12882f32e60ccafd307ebd529a89
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__11483e8d95bdec068a5e__2023-04-17-14-43-20.json
@@ -0,0 +1,18 @@
+{
+    "((674, 1539), (682, 1635))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30ceae299f8e517b72eeeaddb03c11b2609f4d8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02.json
@@ -0,0 +1,17 @@
+{
+    "((1169, 2916), (1271, 2916))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..60086303d96aa546fcb04488cc9ad2f132b5249c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11.json
@@ -0,0 +1,15 @@
+{
+    "(None, (780, 2642))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..a99869234d729711565e58943058a842404dcbb7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35.json
@@ -0,0 +1,15 @@
+{
+    "(None, (840, 2871))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0365fd6241de46a638a576e7e2472621792fd19
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28.json
@@ -0,0 +1,43 @@
+{
+    "((851, 1320), (979, 1264))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    },
+    "((1916, 3793), (1988, 3781))": {
+        "primitive": "remove_lightbulb",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((4378, 4666), (4402, 4658))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0045@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce5e0bffe0655f0f943204d1a1dd51a231a0d7b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33.json
@@ -0,0 +1,73 @@
+{
+    "((1013, 1450), (825, 1450))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00009",
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00009"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    },
+    "((1450, 2115), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00009"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00009"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1450, 2115))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    },
+    "((2115, 2783), (2115, 2671))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00009",
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00009"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    },
+    "(None, (2739, 3147))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00008"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00008"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..993d33b6d95507061fffbd93222660ce6100e107
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__338b1e8d115be91c9473__2023-04-17-14-49-08.json
@@ -0,0 +1,18 @@
+{
+    "((669, 1334), (777, 1334))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..55dce4455be6dcbd86cd1d3a6b11bc3eaa7e539f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__37576cfe40029aca15ea__2023-04-22-09-43-29.json
@@ -0,0 +1,15 @@
+{
+    "((863, 2488), (923, 2488))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aa7b4cb5cfa6cb62c0804050cdce7ece7458c40
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__3858fe09a5a39a86248e__2023-04-17-14-49-58.json
@@ -0,0 +1,18 @@
+{
+    "((733, 1225), (777, 1225))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f3a6fee936b1155df56cff6de485bdf62bff70
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__4635d47c6f3886b08da2__2023-04-17-14-51-43.json
@@ -0,0 +1,11 @@
+{
+    "((360, 1241), (773, 1241))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6c927376608fae9d01f05394bae515c00a1dec
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47.json
@@ -0,0 +1,34 @@
+{
+    "((894, 1527), (1166, 1735))": {
+        "primitive": "open_book",
+        "obj_list": [
+            "O02@0060@00001",
+            "O02@0060@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_book",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0060@00001",
+            "O02@0060@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0060@00002"
+        ]
+    },
+    "((1635, 2227), (1991, 2247))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0060@00001",
+            "O02@0060@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0060@00001",
+            "O02@0060@00002"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e084cb2371851c3fdc865150f7319a1a64e56ab
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25.json
@@ -0,0 +1,45 @@
+{
+    "((780, 1280), (780, 1300))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1352, 1881), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0049@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2145, 2865), (2145, 2865))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a93a05ab8b60110b63c766b4f5b3001238d2c18
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05.json
@@ -0,0 +1,18 @@
+{
+    "((636, 1153), (809, 1193))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd5132fb63c2f3dcd0a91f5a5253ad803590b926
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12.json
@@ -0,0 +1,45 @@
+{
+    "((876, 1357), (876, 1385))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1617, 2061), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0049@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2281, 2818), (2253, 2858))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..675c914c00db720e8f5512e1d486d9cbb2634781
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__75a7a66ac2f78914752b__2023-04-17-15-15-05.json
@@ -0,0 +1,73 @@
+{
+    "((1360, 1592), (1024, 1592))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00002",
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    },
+    "(None, (1592, 2769))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    },
+    "((1592, 2769), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2769, 3173), (2769, 3013))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00002",
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    },
+    "(None, (3157, 3486))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc76133c293cd94aab2b5d3c1d5773ca7e6c1519
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__908a1edaf860b6977ee0__2023-04-17-15-03-51.json
@@ -0,0 +1,50 @@
+{
+    "((1022, 1665), (946, 1595))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1665, 2359), (1735, 2255))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((2359, 2968), (2463, 2968))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc87d963eee3088629fb1c32609ff58f278d1aeb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__a2365494589b523a8e31__2023-04-17-14-41-57.json
@@ -0,0 +1,18 @@
+{
+    "((747, 2304), (747, 2304))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d41dc7ea07ec3db1fb2f1260267ce1b2c920ab7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05.json
@@ -0,0 +1,36 @@
+{
+    "((1509, 1993), (941, 1993))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((2097, 2858), (2097, 2858))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9227661588c3409937b2549af4fa3ab71475a5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52.json
@@ -0,0 +1,20 @@
+{
+    "((746, 1158), (746, 1158))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c55b841f2bffda1e1fe05b4d7ee686360475df
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52.json
@@ -0,0 +1,20 @@
+{
+    "((805, 3379), (1213, 3863))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0056@00001",
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0056@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aab5ef2acac193c0fbeced734d091caf55f0c95
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__e353fef56c230c7f05bf__2023-04-17-14-47-11.json
@@ -0,0 +1,20 @@
+{
+    "((742, 1431), (754, 1415))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e2863228c91c0d601e0349cae1f938246bc25a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57.json
@@ -0,0 +1,47 @@
+{
+    "((1085, 2057), (784, 2109))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (2109, 3474))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3554, 4163), (3474, 4519))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ebd11a7d2eb349da99281315d9fef5b7f7d3f4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18.json
@@ -0,0 +1,15 @@
+{
+    "(None, (837, 2671))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..24134fd7f4b43d91cb6253104be79ab822faf6dd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17.json
@@ -0,0 +1,15 @@
+{
+    "((879, 995), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d9c50417375fe561836e947eb25650d049bf9f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23.json
@@ -0,0 +1,18 @@
+{
+    "((656, 1352), (812, 1388))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9f4d4c39c04397be122adb9b34c1fb5b9935447
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35.json
@@ -0,0 +1,15 @@
+{
+    "(None, (769, 1678))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a6a9ac9fa0ac8826cbf71201ff2e771da0fc3e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__fd02f5494eb920248002__2023-04-17-15-36-56.json
@@ -0,0 +1,18 @@
+{
+    "((1359, 1711), (855, 1711))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json b/raw/oakinkv2/program/program_info/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ceca156b897c5aa75c3835130948631d2f9306d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A002++seq__fdb1f133ee125f509b32__2023-04-17-15-02-52.json
@@ -0,0 +1,47 @@
+{
+    "((844, 1505), (844, 1505))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (1701, 2133))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((2345, 2793), (2237, 2797))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..44fe7bfce7f112a3abb5826eec25e23befa53ff8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21.json
@@ -0,0 +1,30 @@
+{
+    "((1290, 4340), (836, 4652))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((4552, 4921), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0035@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0035@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..de9d1f432b37a3f39c2450c93e273c7a85a000c3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__17716831a0aebbef3d65__2023-04-26-20-28-09.json
@@ -0,0 +1,48 @@
+{
+    "((740, 2049), (692, 2009))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((2049, 2225), (2089, 2225))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00001"
+        ]
+    },
+    "((2277, 2341), (2277, 2341))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba5cf273b670d44298a9d52c45b7e17582f624c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25.json
@@ -0,0 +1,47 @@
+{
+    "((1896, 4481), (1896, 4157))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "((4533, 4786), (4261, 5070))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((4850, 5918), (5230, 5898))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbae05914164d82982a1651943f1ecba9cf22db
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56.json
@@ -0,0 +1,150 @@
+{
+    "((695, 995), (843, 995))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((995, 1812), (995, 1812))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((1812, 2240), (1812, 2088))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2436, 3409), (2252, 3409))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (4558, 4890))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (4966, 5290))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((5464, 6391), (5494, 6391))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    },
+    "(None, (6391, 6699))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "(None, (6779, 6991))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((7764, 8264), (7556, 8244))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..043d02023ebab6814d1908961f1f7469f0703488
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01.json
@@ -0,0 +1,20 @@
+{
+    "((929, 1934), (937, 2058))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c8683f24da79701c35f306a46a72539bbb622d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__352c9c1998b2e922f92c__2023-05-07-18-34-12.json
@@ -0,0 +1,111 @@
+{
+    "((992, 1580), (972, 1596))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ]
+    },
+    "((1744, 2517), (1744, 2517))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((2677, 3322), (2709, 3222))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "(None, (3578, 3686))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    },
+    "(None, (3914, 4298))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((4062, 4863), (4390, 4799))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((4863, 5179), (4927, 5183))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2320ecc418b3544e1d300bc839c1f2b23ec0f5f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__380a384622fbf36ca0f1__2023-04-26-20-50-19.json
@@ -0,0 +1,76 @@
+{
+    "((991, 2048), (631, 2224))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2184, 2368), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00011"
+        ],
+        "obj_list_rh": null
+    },
+    "((2696, 4125), (2312, 4249))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((4345, 5326), (4249, 5098))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (5162, 5550))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd830fee96c11bb0ab27dda41dcb2a506036d819
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15.json
@@ -0,0 +1,61 @@
+{
+    "((716, 1092), None)": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": null,
+        "obj_list_lh": [],
+        "obj_list_rh": null
+    },
+    "((1124, 1292), (800, 1264))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((1408, 1881), (1408, 1761))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((1957, 2153), (1957, 2153))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c70f15c8b1f42f462317019ebc9febc392296
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29.json
@@ -0,0 +1,18 @@
+{
+    "((851, 2096), (687, 2088))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ee2a9b0e893068b1efe22dc45258715284981f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59.json
@@ -0,0 +1,53 @@
+{
+    "((905, 1137), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1233, 1974), (965, 1934))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((2206, 2490), (2174, 2510))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d3924e66f239a170a1e0df513e92f56259e9c6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42.json
@@ -0,0 +1,260 @@
+{
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+            "O02@0018@00001"
+        ]
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+        "obj_list": [
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+            "O02@0028@00001"
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+        "obj_list": [
+            "O02@0028@00001"
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+        "obj_list_rh": null
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+        "primitive_rh": "take_outside",
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+        "obj_list_rh": [
+            "O02@0081@00001"
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+            "O02@0018@00001"
+        ]
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+        "obj_list": [
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+        "primitive_rh": "insert_lightbulb",
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+        "obj_list": [
+            "O02@0045@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
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+        "obj_list_rh": [
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+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
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+            "O02@0019@00001"
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+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
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+        "primitive_rh": "hold",
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+            "O02@0019@00001"
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+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
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+        "primitive_lh": "rearrange",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
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+            "O02@0029@00007"
+        ]
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+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
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+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
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+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (12158, 12694))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((12310, 12606), None)": {
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+        "obj_list": [
+            "O02@0045@00001"
+        ],
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+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((12694, 16457), (12694, 16388))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__5844a24008c2bda16ac4__2023-04-26-20-20-51.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__5844a24008c2bda16ac4__2023-04-26-20-20-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6a3ceaecbee2a2ed8834ef63a5c2869adf7f3c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__5844a24008c2bda16ac4__2023-04-26-20-20-51.json
@@ -0,0 +1,18 @@
+{
+    "((1130, 3499), (1130, 3107))": {
+        "primitive": "remove_lightbulb",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..1980b3dfc622b7c4b4facf6dfa731a679679d1f1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__59a87748f870590410f1__2023-05-07-19-50-16.json
@@ -0,0 +1,231 @@
+{
+    "((905, 1089), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1329, 1902), (1469, 1741))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00012"
+        ]
+    },
+    "((2050, 3026), (1741, 3006))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3026, 3819), (3122, 3751))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00002",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "((3819, 4784), (3843, 4744))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((4784, 5795), (4864, 5716))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00002",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "((5795, 6637), (5820, 6637))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((6737, 7341), (6637, 7053))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((7434, 7818), (7225, 7758))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((7866, 8550), (7866, 8574))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((8662, 9011), (8662, 9023))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((9143, 10608), (9023, 10828))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((11156, 16784), (10956, 16536))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((17393, 18269), (17305, 18153))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__5cb937c572504e2267d0__2023-04-26-20-30-59.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__5cb937c572504e2267d0__2023-04-26-20-30-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9553b6472c6717e3410cc27cb1d05efc2929e92
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__5cb937c572504e2267d0__2023-04-26-20-30-59.json
@@ -0,0 +1,15 @@
+{
+    "(None, (756, 856))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb92740af6bc145d0e6a9fb75842401fe1bdec6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02.json
@@ -0,0 +1,50 @@
+{
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+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((2146, 3103), (2074, 3119))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((3519, 4072), (3439, 3984))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ba5666b74f703117c60ed131c6f792c493e511
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10.json
@@ -0,0 +1,60 @@
+{
+    "((716, 1076), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1841, 2133), (1293, 2293))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((2257, 2437), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0048@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2593, 3142), (2397, 2962))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..52dc2e1873b96d93d3773ef96e3d21a0d8e8647c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__7cd8f3605936de64aad1__2023-05-05-20-29-44.json
@@ -0,0 +1,31 @@
+{
+    "((1196, 1885), (951, 1905))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "(None, (2266, 2386))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__817fbb3e3627c6d80646__2023-04-26-20-51-54.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__817fbb3e3627c6d80646__2023-04-26-20-51-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..2655b370258a75b705bc7af325552aa72a2542bb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__817fbb3e3627c6d80646__2023-04-26-20-51-54.json
@@ -0,0 +1,18 @@
+{
+    "((1224, 3313), (776, 3265))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e098c5474c37cc8c4047c7eebd121df25743d518
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__8e463d9013085a8a682a__2023-05-07-19-42-17.json
@@ -0,0 +1,109 @@
+{
+    "((837, 966), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1095, 1624), (1264, 1624))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((1624, 2629), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1624, 2629))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2629, 3325), (2629, 2949))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3453, 6099), (3217, 6816))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((7060, 8277), (7060, 8197))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d06c3dc4d5491ff74eac3b98ba8a6d59306534b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37.json
@@ -0,0 +1,15 @@
+{
+    "(None, (691, 1588))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b3084403b8602e4073f47ba345bdf8cc468969f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__959a025a97c09ece4891__2023-05-07-19-39-17.json
@@ -0,0 +1,170 @@
+{
+    "((1078, 1238), (826, 1238))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1238, 1774), (1354, 1750))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((1774, 2143), (1798, 2131))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((2471, 2583), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2727, 2927), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2831, 3019))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2991, 3195), (3051, 3195))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3195, 4032), (3195, 4032))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((4032, 4632), (4032, 4360))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((4913, 8111), (4873, 8275))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((8611, 9648), (8799, 9612))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__988f47650371f35d6001__2023-04-26-20-39-46.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__988f47650371f35d6001__2023-04-26-20-39-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8344c0ff8f577fa91453258139678419df2ad5d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__988f47650371f35d6001__2023-04-26-20-39-46.json
@@ -0,0 +1,49 @@
+{
+    "((1091, 1632), (955, 1668))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1784, 2248), (1808, 2208))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((2404, 3025), (2464, 3025))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..69834d1c1b7b2e4b37114153c0a3ba5edfcef316
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__9cf448429878c58036ef__2023-05-07-18-47-31.json
@@ -0,0 +1,213 @@
+{
+    "((1057, 1377), (1057, 1749))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "C43001",
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "C43001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((1465, 1873), None)": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "C43001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "C43001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1977, 2526), (1897, 2582))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((2634, 2706), (2586, 2746))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((2826, 3410), (2886, 3346))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "(None, (3699, 3799))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    },
+    "((4067, 4415), (4031, 4435))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((4871, 5096), (4551, 5092))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((5100, 5494), (5140, 5428))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((5494, 6214), (5560, 6180))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((6214, 6505), (6248, 6485))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((6505, 7269), (6557, 7397))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((7709, 7986), (7537, 7978))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac11b57f9413ecb5a3584fa2918ddd5cf11776e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07.json
@@ -0,0 +1,190 @@
+{
+    "((2393, 2813), (2369, 2701))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((2813, 3130), (2813, 3314))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "((3314, 5475), (3314, 5483))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_lightbulb",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "((5936, 6812), (5960, 6768))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": []
+    },
+    "((7100, 7773), (7128, 7681))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((7893, 8914), (7977, 8898))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((9018, 9210), (9002, 9206))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((9214, 9622), (9270, 9670))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((9794, 9942), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (10054, 10191))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    },
+    "((10471, 11027), (10375, 10955))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((11167, 11259), (11111, 11259))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..447ead06986fe4978d971c64715304df050a2703
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25.json
@@ -0,0 +1,15 @@
+{
+    "((665, 2387), (1159, 2279))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9ed78016cb4a34a505e7e3693454594b488125
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32.json
@@ -0,0 +1,15 @@
+{
+    "((1274, 2747), (728, 2579))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e07386565c1b0eb6b85973660f4b165305c5da
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__a6a05580601fe76cb729__2023-04-26-20-32-59.json
@@ -0,0 +1,19 @@
+{
+    "((749, 1273), (785, 1273))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f69b52a105bafebe5299cf70cf6c0a6b031558d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10.json
@@ -0,0 +1,231 @@
+{
+    "((987, 1440), (987, 1292))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1372, 1756))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00002"
+        ]
+    },
+    "((1440, 2793), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1932, 2264))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "(None, (2384, 2721))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((2793, 3197), (2793, 3197))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3197, 3533), (3257, 3533))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ]
+    },
+    "((4714, 6243), (4610, 6263))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_lightbulb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((6696, 6844), (6720, 6860))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_lightbulb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((7728, 8349), (7756, 8309))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((8357, 8633), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((8833, 9173), (8537, 9113))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((9177, 9562), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (9325, 9598))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((9790, 10282), (9718, 10194))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((10282, 10550), (10422, 10538))": {
+        "primitive": "use_mouse",
+        "obj_list": [
+            "O02@0053@00002",
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "use_mouse",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d238159105a007ef718bf86ae58b7fe79ad378
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40.json
@@ -0,0 +1,45 @@
+{
+    "((873, 1618), (733, 1614))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1838, 2226))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((2543, 3215), (2543, 3215))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..34ac987de6a0aeb2ec3257550a2de21ef707a98e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__c52c712037787f909609__2023-05-07-18-57-36.json
@@ -0,0 +1,80 @@
+{
+    "(None, (1054, 2014))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (2219, 2995))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "(None, (3327, 4008))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (4316, 4961))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "(None, (5121, 5589))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((5805, 5929), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..077af2d0eda56310e4de2318339d588684966c3f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__c64c93242d84629ea481__2023-04-26-20-54-06.json
@@ -0,0 +1,15 @@
+{
+    "((1114, 5713), (790, 5581))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..7531b1e2de80500f7d244dda65906cf4e0014fc6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16.json
@@ -0,0 +1,195 @@
+{
+    "((783, 1367), (775, 1367))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1459, 1691))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00002"
+        ]
+    },
+    "((1587, 2092), (1824, 2372))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0081@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((2228, 2424), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0081@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2504, 3041), (2504, 3041))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3269, 3361), (3269, 3881))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": [
+            "O02@0081@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((4177, 4285), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4581, 4838))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((4846, 5406), (4938, 5406))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((5450, 7736), (5406, 7736))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((7860, 10650), (7736, 10698))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((10810, 11522), (10698, 11246))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((11643, 12808), (11675, 12715))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eb3539684152b9a4732aaa0122c6e323ff442f1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__ce34397dc4962c9ad138__2023-05-07-19-57-53.json
@@ -0,0 +1,152 @@
+{
+    "((1220, 1721), (1000, 1721))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((1973, 3170), (1721, 3242))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3242, 3774), (3242, 3598))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3970, 5632), (3906, 5536))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5748, 5896), (5624, 5856))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (5924, 6244))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((6752, 7373), (6768, 7373))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "(None, (7441, 7813))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    },
+    "(None, (7917, 8121))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((8506, 9518), (8526, 9486))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8133e8ff1e68a43414e5e7096eaaf033f75e292
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__d68290a50c82ed38e879__2023-04-26-20-42-56.json
@@ -0,0 +1,62 @@
+{
+    "(None, (762, 946))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((926, 1458), (998, 1474))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (1623, 2023))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((1671, 2431), (2087, 2423))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d326f08862860e3f672ee01d0251cd2da53e1c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00.json
@@ -0,0 +1,18 @@
+{
+    "((757, 1415), (757, 1295))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..400c57337b09aad00553c6d1e574ab92f0f6dba3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__e983778af409037ac690__2023-04-26-20-32-21.json
@@ -0,0 +1,18 @@
+{
+    "((895, 1323), (799, 1271))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json b/raw/oakinkv2/program/program_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c00cad1a7c0a4b39b13c86d84e84c7b4217796
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A004++seq__f9da9f8777e032f5d583__2023-05-07-20-00-26.json
@@ -0,0 +1,102 @@
+{
+    "((1165, 2782), (873, 2726))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (4623, 5080))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (5184, 5632))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((5632, 6465), (5632, 6465))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    },
+    "(None, (6465, 6861))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "(None, (6913, 7105))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((7898, 8678), (7697, 8698))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1817dcdeabeafcbe2864e4a54c136650a3a6f94
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0366f467a3e260d6c840__2023-04-20-09-55-54.json
@@ -0,0 +1,50 @@
+{
+    "((843, 2095), (931, 2043))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2388, 2960), (2231, 3160))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C43001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00002"
+        ]
+    },
+    "((3108, 4337), (3288, 4349))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a10ccd4dba6fa2f592222a1d5c8257757f7314
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0464d8feaa9838cb010d__2023-04-20-09-31-17.json
@@ -0,0 +1,18 @@
+{
+    "((1535, 6059), (1868, 6059))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..73c475ac8feb818d8aaf42685bea086bb3dfb4a3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__05aa22c9d5022923fd56__2023-04-20-10-34-05.json
@@ -0,0 +1,15 @@
+{
+    "(None, (826, 4121))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..7612e2c624aa0e211aa2f3ccad8ec4d24bb02d7a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0a175b38f46241c87340__2023-04-20-09-41-24.json
@@ -0,0 +1,18 @@
+{
+    "((809, 1690), (901, 2186))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfb41d01b2c7302bc5741c455513da44ca24c05
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0d1653eb4f8f74894438__2023-04-20-10-38-33.json
@@ -0,0 +1,17 @@
+{
+    "((733, 2283), (733, 2363))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..993a22e5102f225780d533585baa3041a3a78d78
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1042, 1830))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((1844, 2803), (1858, 2743))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..6287791cd892302c9ba52f38d9ef7c4c44266f74
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36.json
@@ -0,0 +1,18 @@
+{
+    "((1177, 2238), (689, 2122))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..69526d82c76721d18f57f5fe961eab11793696ce
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01.json
@@ -0,0 +1,54 @@
+{
+    "((481, 801), (521, 937))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((937, 1370), (937, 1370))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((1438, 1706), (1370, 1706))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..c49fc371f7a7a2ae598dfeb4626a5535c93e4d77
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59.json
@@ -0,0 +1,98 @@
+{
+    "((721, 1282), (581, 785))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((1282, 1626), (877, 1626))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((1626, 1898), (1678, 1898))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((1950, 2278), (1950, 2723))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((2891, 3651), (2891, 3659))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3847, 4380), None)": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c1feec48054ece64a6a95d62fafb712a29e290
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33.json
@@ -0,0 +1,84 @@
+{
+    "((1089, 1281), (781, 1345))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1345, 1601), (1345, 1601))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1673, 1881), (1601, 1893))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((2041, 3086), (2350, 3170))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((3254, 3787), (3174, 3667))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..385a19add128390c3f95718a9530522e73b72d3c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__1e9952b388e901e173b3__2023-04-20-09-34-29.json
@@ -0,0 +1,15 @@
+{
+    "((882, 1435), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad3a31577506379bea10329b49b1533cbaf0485
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__37d7bf4253158917183b__2023-04-20-09-56-54.json
@@ -0,0 +1,50 @@
+{
+    "((585, 1560), (585, 1402))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1560, 2542), (1718, 2406))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0018@00002",
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((2542, 3903), (2679, 3903))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ae4c7489c48f9b283acd1f7bd0ed8c6b3bb732
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__39c30d86600d4b2e4581__2023-04-25-18-43-06.json
@@ -0,0 +1,179 @@
+{
+    "(None, (708, 948))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((948, 1360), (948, 1360))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((1360, 1664), (1360, 1664))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00002",
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((1664, 2085), (1725, 2157))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "(None, (2337, 2701))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((2477, 3226), (2757, 3122))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "(None, (3214, 3342))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00002"
+        ]
+    },
+    "((3342, 3786), (3426, 4198))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00001",
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((4334, 5139), (4463, 5447))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((5663, 5731), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6496, 7633), (5988, 7565))": {
+        "primitive": "remove_lightbulb",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((7633, 7781), (7701, 7745))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0045@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c89121cee48bd750ba58f453c843f07ddd1a7edc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__3d80692678e9f2b16558__2023-04-20-09-59-17.json
@@ -0,0 +1,51 @@
+{
+    "((755, 1224), (711, 1392))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1392, 2089), (1392, 2089))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((2277, 2753), (2089, 2729))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..27d7417c641e999fc72ff4dbb047b6035691a783
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__4c86f2f46f23414c962d__2023-04-20-09-46-21.json
@@ -0,0 +1,18 @@
+{
+    "((913, 2066), (977, 1914))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a7220fa03de825013ee58bee738b035e4c4087a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__59d85ed79373889d9390__2023-04-20-09-49-59.json
@@ -0,0 +1,47 @@
+{
+    "((1469, 1801), (851, 1833))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((1865, 2541), (1833, 2449))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (2449, 3090))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..3065acf822cfeb7537c3610758f0f0214a78e0f5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43.json
@@ -0,0 +1,124 @@
+{
+    "((556, 732), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": null
+    },
+    "((852, 1261), (908, 1313))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((1365, 1693), (1313, 1755))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((1817, 2129), (1755, 2121))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((2133, 2514), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2217, 3122))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3226, 3939), (3218, 3971))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((4155, 5127), (4155, 5155))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8dee5f337a1221ebd4683e5f037d775f053eeef
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10.json
@@ -0,0 +1,116 @@
+{
+    "((752, 1261), (752, 1261))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0054@00001"
+        ]
+    },
+    "(None, (1441, 1877))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "((2033, 2477), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00011"
+        ],
+        "obj_list_rh": null
+    },
+    "((2722, 3274), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0081@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3542, 4067), (3542, 4083))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((4271, 4359), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((4603, 4883), (4595, 4883))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((4887, 5104), (4887, 5132))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab02321acc423ac8d5eb2ad931b1ac3f931c656
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__6577d8c6667be24747cd__2023-04-20-09-47-27.json
@@ -0,0 +1,28 @@
+{
+    "((831, 2153), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1103, 2694))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..3732337072290e5b50f8f1616542531f02181a1f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__681840c979d1c250086f__2023-04-20-09-44-47.json
@@ -0,0 +1,18 @@
+{
+    "((744, 2201), (912, 1928))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..566b2e73f308a70416c0761f17eb00d436b07f59
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__6b5c334699d51ff0993a__2023-04-25-20-43-37.json
@@ -0,0 +1,95 @@
+{
+    "((784, 1537), (688, 1573))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "(None, (1573, 1889))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((1637, 2121), None)": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2285, 2649), (2377, 2649))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((2846, 3182), (2649, 3182))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((3282, 3514), (3182, 3514))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bfc87be226a5f3a6734fa93d21b4c1205209ab3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__71d96cbe8a5917db300a__2023-04-20-09-43-29.json
@@ -0,0 +1,18 @@
+{
+    "((963, 2416), (1147, 2352))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..3795183b38afec2f928fc12cecbcb3e57b2da318
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__76f7db714ac51188ae37__2023-04-20-10-05-30.json
@@ -0,0 +1,18 @@
+{
+    "((617, 1954), (617, 1882))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5008e1f803a412b0508f8ec5c298a5eea54b5d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__783a1352e1d7eba567ed__2023-04-20-10-36-46.json
@@ -0,0 +1,54 @@
+{
+    "(None, (520, 1413))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((1377, 2109), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2169, 2289), (2021, 2526))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((2341, 3354), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3b2528f8a9513b6fa29428dc1eda790de11c7b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40.json
@@ -0,0 +1,113 @@
+{
+    "((1610, 2879), (1145, 2879))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((3255, 4164), (3199, 4276))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((4408, 5148), (4280, 5068))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((5853, 6257), (5565, 6257))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((6257, 6914), (6381, 6914))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((6914, 7434), (7138, 7489))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "(None, (7674, 7990))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..6210e375be7123606d33ad08ce308f8ec0b6bd6b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36.json
@@ -0,0 +1,170 @@
+{
+    "((735, 1103), (711, 979))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((1103, 1561), (1103, 1475))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((1561, 2268), (1648, 2268))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((2268, 2540), (2376, 2624))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((2804, 3253), (2804, 3293))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((3333, 3681), (3293, 3725))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((3769, 4033), (3725, 4065))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (4065, 4173))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((4121, 4301), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((4373, 5811), (4269, 5839))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((6843, 7768), (6775, 7992))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..6008f069e028975b492ca1f89c134408e058129c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__a5d2c553db85848395c8__2023-04-25-18-31-48.json
@@ -0,0 +1,180 @@
+{
+    "((2038, 2598), (1045, 2662))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((2934, 3386), (2858, 3386))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((3603, 3923), (3455, 3935))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "(None, (4187, 4423))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((4560, 4896), (4608, 4896))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((4896, 5688), (4956, 5688))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((5688, 5977), (5772, 6037))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (6281, 6621))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((6301, 6625), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6789, 7037))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    },
+    "((6817, 7350), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7262, 8066))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1cf15adfec80c53a8f959a5bb9141d850c2b30
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__a5e8acc91b23e487f576__2023-04-20-10-29-01.json
@@ -0,0 +1,18 @@
+{
+    "((2341, 3542), (636, 3730))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ba46f3b3bda5ae001bc7a78dec8e580edd555d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44.json
@@ -0,0 +1,20 @@
+{
+    "((1477, 5900), (908, 6520))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0056@00001",
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0056@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__df069c5a6cf843623ea0__2023-04-20-09-38-43.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__df069c5a6cf843623ea0__2023-04-20-09-38-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ab78659666539ededb645efdf223f550b4575c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__df069c5a6cf843623ea0__2023-04-20-09-38-43.json
@@ -0,0 +1,18 @@
+{
+    "((826, 4781), (1407, 4741))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03f8a653506358f00dd5d90a28031452fd77664
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10.json
@@ -0,0 +1,221 @@
+{
+    "((519, 599), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((971, 1412), (855, 1412))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((1412, 1676), (1495, 1588))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00002"
+        ]
+    },
+    "((1776, 2080), None)": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1904, 2252))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((2156, 2753), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((2925, 3761), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3837, 4066), None)": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4530, 5202), (4454, 5234))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((5274, 5933), (5347, 5815))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((5933, 6728), (6051, 6583))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((6952, 7916), (6952, 7912))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((9141, 9642), (9141, 9634))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (9678, 9762))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ]
+    },
+    "((9702, 9802), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d6a3812637c4f711e7430fca2c9d349bde7e91
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__e965dd3f42c13082d017__2023-04-20-10-01-26.json
@@ -0,0 +1,28 @@
+{
+    "(None, (743, 2044))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((1848, 2464), None)": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_flower_into_vase",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0081@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__efd166c0cffda247d1e9__2023-04-20-10-04-31.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__efd166c0cffda247d1e9__2023-04-20-10-04-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..75f398ce277f2967ccc85fe57a6b2fa2e85c8205
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__efd166c0cffda247d1e9__2023-04-20-10-04-31.json
@@ -0,0 +1,19 @@
+{
+    "((1362, 1991), (830, 2007))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00001",
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00001",
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe56a77bcf03c3f61d605bdee8dee28ed8847712
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__f0b722436e99d448cd74__2023-04-25-18-55-27.json
@@ -0,0 +1,195 @@
+{
+    "(None, (678, 1623))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((1375, 1763), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1675, 1767))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00002"
+        ]
+    },
+    "((1947, 2075), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2588, 2668), (2520, 2732))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ]
+    },
+    "((2748, 3148), (2760, 3148))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3312, 3961), (3548, 3969))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (4137, 4689))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((5038, 5390), (4881, 5406))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5422, 5478), (5406, 5502))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5526, 5886), (5502, 5930))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5975, 6194), (5930, 6326))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((6843, 8468), (6330, 8508))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..f047e5446756628e03384c51c399a05d84e55187
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__f863fd7448b640950a46__2023-04-20-09-33-42.json
@@ -0,0 +1,15 @@
+{
+    "((1030, 1351), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json b/raw/oakinkv2/program/program_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..61858213a42e21ec278ab65e0415d94f740aa6fc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A005++seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18.json
@@ -0,0 +1,144 @@
+{
+    "((1004, 2101), (1236, 2281))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0053@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001",
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    },
+    "((2357, 2829), (2405, 2841))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "(None, (2985, 3146))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00002"
+        ]
+    },
+    "((3282, 3618), (3250, 3950))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00001",
+            "O02@0048@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "(None, (4058, 4435))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((4258, 4679), (4435, 4679))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((4679, 5039), (4679, 5039))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((5039, 5283), (5039, 5299))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((5523, 5932), (5535, 5936))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..4240649577fff9bb74cd1787c4e71f1dacbe5530
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__02c02468f336c6fd509e__2023-04-19-09-46-24.json
@@ -0,0 +1,44 @@
+{
+    "(None, (826, 1223))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((1223, 1751), (1223, 1603))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (1603, 1999))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6c56cf44277bf0bd8ec299390db925a7d0e319
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56.json
@@ -0,0 +1,226 @@
+{
+    "((614, 1110), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1190, 1319), (798, 1319))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((1543, 2211), (1535, 2227))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2463, 2928), (2531, 2984))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((2984, 3248), (2984, 3224))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((3328, 3636), (3328, 3636))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "C43001",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C43001",
+            "O02@0019@00001"
+        ]
+    },
+    "((3636, 4008), (3732, 4008))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C51001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((4008, 4321), (4109, 4313))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((4417, 4889), (4417, 5173))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((4925, 5153), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5345, 5914), (5345, 5958))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((6234, 6366), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6630, 8247), (6682, 8344))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((8524, 8956), (8524, 9220))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc9493bacf6db1519daeaa3e13a25fe8a6e47c5d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06.json
@@ -0,0 +1,145 @@
+{
+    "((927, 1935), (730, 2308))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "(None, (2500, 3112))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (3344, 3629))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((3629, 4581), (3629, 4581))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((4581, 4809), (4581, 4894))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((5054, 5742), (5030, 5718))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (5830, 6275))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "(None, (6451, 6979))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (7155, 7575))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001"
+        ]
+    },
+    "((7808, 8900), (7808, 8944))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f55bfe0d9912a42d4023cd24264da633c64f20a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__0e05b285591f4a42ef67__2023-04-19-10-09-18.json
@@ -0,0 +1,18 @@
+{
+    "((978, 1722), (659, 1722))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..254a9f039b6d93b975444d2754f88d928c889d19
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49.json
@@ -0,0 +1,60 @@
+{
+    "((1281, 1513), (933, 1513))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((1513, 3339), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1513, 3339))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3339, 3615), (3339, 3971))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc95e616f6c5dfa6020237cddb60e8b7eacccb29
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59.json
@@ -0,0 +1,18 @@
+{
+    "((919, 1536), (951, 1696))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__368db7b34042e99b40fb__2023-04-19-09-58-31.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__368db7b34042e99b40fb__2023-04-19-09-58-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3dd67803a79be47365969c209b0b6b2d5aa68ec
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__368db7b34042e99b40fb__2023-04-19-09-58-31.json
@@ -0,0 +1,18 @@
+{
+    "((639, 1415), (683, 1291))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__45d4b97267414ef9a719__2023-04-19-09-38-23.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__45d4b97267414ef9a719__2023-04-19-09-38-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..349cca65717b221ead80f2ac3a5bafaabee33063
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__45d4b97267414ef9a719__2023-04-19-09-38-23.json
@@ -0,0 +1,18 @@
+{
+    "((1059, 2024), (963, 1880))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..345cae0bc5efa753a2b6af7946576b0b8b4b8cc3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__47e95cffd68d298d0676__2023-05-15-18-41-34.json
@@ -0,0 +1,148 @@
+{
+    "((637, 1078), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (785, 1298))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((1122, 1386), None)": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1470, 1642), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1886, 2434), (1874, 2434))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2594, 3014), (2578, 3022))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "(None, (3026, 3162))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((3334, 3999), (3334, 4003))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((4279, 6237), (4191, 6277))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((6545, 6829), (6533, 6905))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0019@00002",
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3880185da7491969a0bb4cb6f1bd9f5ace8bc7bf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17.json
@@ -0,0 +1,45 @@
+{
+    "((766, 1355), (834, 1355))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1447, 1823))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((2059, 2612), (2059, 2584))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed557a6e8711934782992e68e2af24660a398b03
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__4e42c78633df66b314f2__2023-05-15-19-33-21.json
@@ -0,0 +1,218 @@
+{
+    "((892, 1368), (688, 1368))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (1368, 3418))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3418, 3818), (3418, 3726))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (3750, 4034))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((4238, 4755), (4238, 4755))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((4991, 5347), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5555, 5956), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (5836, 6052))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((6136, 6284), (6056, 6348))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((6348, 7289), (6348, 7273))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "(None, (7273, 7373))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((7505, 9486), (7373, 9486))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((10447, 10859), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((10863, 11808), (10863, 11848))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((12488, 13389), (12084, 13649))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d530e80e520d17641a07ecb6816822896d3f83
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__59796d68e1187324f398__2023-05-15-18-51-04.json
@@ -0,0 +1,115 @@
+{
+    "((810, 1406), (810, 1406))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1578, 2239))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0054@00001"
+        ]
+    },
+    "((2147, 3376), (2363, 3359))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0054@00001"
+        ]
+    },
+    "(None, (3504, 3952))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "(None, (4200, 4744))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((5001, 5621), (4965, 5621))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((5893, 6097), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6318, 6550), (6362, 6602))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__60830eb1a79bf681240c__2023-04-19-09-40-41.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__60830eb1a79bf681240c__2023-04-19-09-40-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..34dd00ce6f9bd9a1468b3d90c0a78fcaa8777e74
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__60830eb1a79bf681240c__2023-04-19-09-40-41.json
@@ -0,0 +1,18 @@
+{
+    "((946, 1850), (946, 1870))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_laptop_lid",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5541e21e490dfb1520ad48c6fc80ee7474ed95
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__63ca89a316cb80143b92__2023-05-15-18-29-19.json
@@ -0,0 +1,239 @@
+{
+    "(None, (787, 1464))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((1720, 2232), (1720, 2360))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((2420, 3669), (3221, 3817))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "(None, (3986, 4134))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "press_button",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    },
+    "((4414, 5146), (4458, 5259))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((5343, 5891), (5451, 5931))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0018@00002"
+        ]
+    },
+    "((5995, 6219), (6151, 6511))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((6331, 6700), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6511, 6884))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((6896, 7116), (7036, 7240))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00002"
+        ]
+    },
+    "((7180, 7552), (7400, 7556))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "C51001"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((7664, 8301), (7664, 8301))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((8429, 8669), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (8489, 8625))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "C51001"
+        ]
+    },
+    "((8813, 9173), (8721, 9101))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((9253, 9437), (9313, 9405))": {
+        "primitive": "use_mouse",
+        "obj_list": [
+            "O02@0053@00002",
+            "C51001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "use_mouse",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "C51001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e295d37772ffba109d7157549961172a22cfba7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__662b07567133f2490efc__2023-05-15-19-42-12.json
@@ -0,0 +1,210 @@
+{
+    "((660, 1432), (704, 1440))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1813, 2049))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "(None, (2049, 2497))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "((2705, 3186), (2705, 3218))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((3910, 4579), (3562, 4579))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (4579, 6428))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((6428, 7184), (6428, 6928))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (7393, 7813))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((7957, 8441), None)": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_pencil",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((8441, 9254), (8553, 9254))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "sharpen_pencil",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ]
+    },
+    "((9254, 9662), (9378, 9514))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ]
+    },
+    "((9770, 11800), (9578, 11808))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((12220, 19962), (12220, 20422))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((20986, 21803), (20642, 22095))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4ec2b84a498c67a3c7c42144ddc7ef849eb084
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58.json
@@ -0,0 +1,15 @@
+{
+    "((856, 1080), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__79e821de8b915a202231__2023-04-19-09-48-20.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__79e821de8b915a202231__2023-04-19-09-48-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7323647cd7e486a1fafdb7c37cd1745a7fe5d82
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__79e821de8b915a202231__2023-04-19-09-48-20.json
@@ -0,0 +1,48 @@
+{
+    "((698, 1291), (774, 1287))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1403, 2071), (1471, 1899))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((2175, 2700), (2203, 2708))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..69b620e017cdd15497b5ff1ac318e16911c63191
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__82851505eab82005b6e2__2023-05-15-18-55-06.json
@@ -0,0 +1,369 @@
+{
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+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((1316, 1508), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
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+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2408, 3467), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2534, 2742))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "(None, (2742, 3098))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
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+        "primitive_rh": "put_flower_into_vase",
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+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
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+            "O02@0018@00001"
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+            "O02@0018@00001"
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+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
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+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((4902, 5323), (4948, 5265))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0029@00011"
+        ],
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+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((5323, 5747), (5381, 5693))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "((5747, 6085), (5801, 6021))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((6357, 6898), (6233, 6898))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
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+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
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+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (6898, 8815))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
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+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
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+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
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+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
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+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (10464, 10793))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0044@00001"
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+        "obj_list_rh": [
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+    },
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+        "primitive_rh": "take_outside",
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+        "obj_list_rh": [
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+        "obj_list": [
+            "O02@0018@00001"
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+        "interaction_mode": "bh_main",
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+            "O02@0018@00001"
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+            "O02@0018@00001"
+        ]
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+    "(None, (12078, 12742))": {
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+        "obj_list": [
+            "O02@0044@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0044@00001"
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+        "obj_list": [
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+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "sharpen_pencil",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00002"
+        ]
+    },
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+        "obj_list": [
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+            "O02@0044@00001"
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+        "primitive_lh": "remove_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
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+    },
+    "((14255, 14379), None)": {
+        "primitive": "hold",
+        "obj_list": [
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+        "obj_list_lh": [
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+    },
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
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+        "obj_list_rh": [
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+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
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+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..3add8134dc6059e5b0439036f490e6b916a2e6e7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33.json
@@ -0,0 +1,170 @@
+{
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+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "((2457, 2934), (2485, 2852))": {
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+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((2934, 3450), (3016, 3376))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    },
+    "((3450, 3959), (3524, 3921))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3959, 4337), (3997, 4309))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
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+    },
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (5251, 5790))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0044@00001"
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+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((5616, 6624), (6115, 6530))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
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+        "primitive": "put_on_lid",
+        "obj_list": [
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+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((7527, 7767), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((7943, 8316), (8001, 8344))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__8a043f2c9d848ac15633__2023-04-20-14-17-37.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8a043f2c9d848ac15633__2023-04-20-14-17-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ec9efb0dc50c5164d5c0a4ee0c2581381635ab7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8a043f2c9d848ac15633__2023-04-20-14-17-37.json
@@ -0,0 +1,73 @@
+{
+    "((871, 1091), (593, 1067))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((1091, 1179), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1155, 2400))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2400, 2916), (2400, 2776))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (2852, 3161))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__8c243ec220de4e47e630__2023-04-19-09-45-19.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8c243ec220de4e47e630__2023-04-19-09-45-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ff270ce286ae9ccf5208d9e4c203ce7e768215
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8c243ec220de4e47e630__2023-04-19-09-45-19.json
@@ -0,0 +1,64 @@
+{
+    "((1185, 1369), (837, 1485))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((1485, 2010), (1485, 1942))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((2010, 2178), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0044@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2010, 2178))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..239d210474d2dd37bd3fb50434394ebf13c53c91
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57.json
@@ -0,0 +1,20 @@
+{
+    "((1483, 3516), (962, 4073))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0056@00002",
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0056@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__8e4b0023921526f5c201__2023-04-19-09-55-18.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8e4b0023921526f5c201__2023-04-19-09-55-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f5d484f0b9a731980db0688604730d79d7e739d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8e4b0023921526f5c201__2023-04-19-09-55-18.json
@@ -0,0 +1,44 @@
+{
+    "(None, (712, 1061))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((997, 1129), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0048@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1197, 1853), (1081, 1837))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb29853c52c2ea1a3b03efd56858bc36955e87dc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33.json
@@ -0,0 +1,17 @@
+{
+    "((1184, 2569), (696, 2581))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6067d421c3a4fb96ff6486bed4722e0e8487032
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__95c93c4a703875a021a3__2023-05-15-19-50-37.json
@@ -0,0 +1,119 @@
+{
+    "((712, 1265), (736, 1297))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1329, 1773), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1453, 1997))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    },
+    "(None, (2285, 2986))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0035@00002"
+        ]
+    },
+    "((3214, 3826), (3214, 3850))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((4115, 4695), (4475, 4663))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_pencil",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((4695, 5474), (4727, 5448))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "sharpen_pencil",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00002"
+        ]
+    },
+    "((5474, 6244), (5500, 5936))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_pencil",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a3d3fefac994d2770caa62aefcb91e47aaac6ff
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33.json
@@ -0,0 +1,221 @@
+{
+    "((1183, 1455), (735, 1447))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((1583, 1780), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2124, 2640), (2104, 2596))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2752, 3100), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0055@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3257, 3749), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00011"
+        ],
+        "obj_list_rh": null
+    },
+    "((3901, 5186), (3969, 5186))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0054@00001"
+        ]
+    },
+    "((5398, 6123), (5322, 6123))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((6488, 7105), (6264, 7105))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "(None, (7105, 9130))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((9130, 9423), (9130, 9423))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((9423, 9583), (9423, 9583))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((9583, 10383), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00012"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": null
+    },
+    "((10439, 11520), (9583, 11604))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((11604, 12333), (11604, 12017))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((12697, 13690), (12465, 13870))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1b9b45ecb35d0a6d87615480f83785780a7320
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54.json
@@ -0,0 +1,11 @@
+{
+    "((622, 1640), (633, 1652))": {
+        "primitive": "open_book",
+        "obj_list": [],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "open_book",
+        "primitive_rh": "open_book",
+        "obj_list_lh": [],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..b493770e4fd01f71d11781806d45a1c9a07702d7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__9bb1738583a36e74130e__2023-05-15-19-05-51.json
@@ -0,0 +1,217 @@
+{
+    "((1014, 1575), (786, 1619))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((1747, 1915), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2135, 3040), (2167, 3060))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (3312, 3640))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((3808, 4308), (3760, 4323))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((4505, 7707), (4505, 7707))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002",
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    },
+    "((7707, 7963), (7763, 7843))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0056@00001"
+        ]
+    },
+    "((8091, 8676), (8123, 8760))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((8760, 9180), (8760, 9180))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((9260, 9608), (9180, 9624))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001"
+        ]
+    },
+    "((9748, 10109), (9780, 10169))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0056@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ]
+    },
+    "((10229, 11398), (10169, 11440))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ]
+    },
+    "((11482, 11598), (11440, 11598))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0056@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0056@00001",
+            "O02@0056@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..87141cdf1ddd2ad11dbeac3ad9c1a5d1680e772d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__a39c7e960526c1e528ff__2023-04-19-09-50-50.json
@@ -0,0 +1,67 @@
+{
+    "(None, (657, 1381))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((941, 1579), (1441, 1537))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1579, 2114), (1621, 2066))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((2114, 2498), (2162, 2490))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..11570577c5f1288edf81690c77115c4911d0b189
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37.json
@@ -0,0 +1,280 @@
+{
+    "((772, 1322), (764, 1322))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1634, 2346), (1558, 2314))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((2350, 2767), (2394, 2817))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "C43001",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pull_out_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "C43001",
+            "O02@0019@00001"
+        ]
+    },
+    "((2867, 3179), (2817, 3223))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0028@00001",
+            "C43001",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0028@00001"
+        ],
+        "obj_list_rh": [
+            "C43001",
+            "O02@0019@00001"
+        ]
+    },
+    "((3295, 3499), (3327, 3499))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "push_in_drawer",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0019@00002",
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((3603, 3944), (3603, 4204))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ]
+    },
+    "((3968, 4176), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4980, 5108), (4980, 5080))": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "press_button",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0045@00001"
+        ]
+    },
+    "((5657, 7882), (5657, 7882))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_lightbulb",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "(None, (8835, 9420))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    },
+    "((9151, 9492), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((9732, 10953), (9952, 11081))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    },
+    "((11105, 11237), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((11321, 11541), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((11773, 11953), (11493, 11961))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    },
+    "((12077, 12578), (12077, 12586))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((12862, 13298), (12770, 13170))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    },
+    "((13362, 13550), (13350, 13558))": {
+        "primitive": "use_gamecontroller",
+        "obj_list": [
+            "C43001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "use_gamecontroller",
+        "primitive_rh": "use_gamecontroller",
+        "obj_list_lh": [
+            "C43001"
+        ],
+        "obj_list_rh": [
+            "C43001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc245692798012097979e6692aec8f64be752ae4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__af2591a14bda4e44e211__2023-04-19-09-37-19.json
@@ -0,0 +1,18 @@
+{
+    "((968, 1868), (863, 1792))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc76acc567ba9007839690766153be1b3227801
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36.json
@@ -0,0 +1,54 @@
+{
+    "((679, 1129), (679, 1075))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1129, 1667), (1183, 1631))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0049@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0049@00001"
+        ]
+    },
+    "((1667, 2064), (1703, 2056))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75a9678c4f785662522a8f21fb254991c70b07b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__c0087656fa9675305cb3__2023-04-19-09-33-53.json
@@ -0,0 +1,18 @@
+{
+    "((1162, 1830), (846, 1742))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f0dfed4716350d65f1c6d6aed32888cef920a2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__d7c9c503271d9e056101__2023-04-20-14-22-41.json
@@ -0,0 +1,15 @@
+{
+    "((821, 2374), (1141, 2382))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dfdfd9bcec286615c13d5ec9a83f762692ac52b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27.json
@@ -0,0 +1,28 @@
+{
+    "((690, 1046), (802, 1046))": {
+        "primitive": "open_book",
+        "obj_list": [
+            "O02@0060@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "open_book",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0060@00001"
+        ],
+        "obj_list_rh": []
+    },
+    "((1118, 1503), (1118, 1583))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0060@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0060@00001"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..41c083bc9e712c4cef4b107a8bb93b86d453665a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__e550397c771f3c1c387b__2023-04-19-09-39-42.json
@@ -0,0 +1,19 @@
+{
+    "((853, 2135), (853, 2131))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..a28d693916449a9762690285dc9db0f3a3f10c5a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58.json
@@ -0,0 +1,18 @@
+{
+    "((1067, 1647), (794, 1591))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0080@00001",
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": [
+            "O02@0080@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca1a7a6778e19c0ddfd2390c3c9a51f0a21e19ac
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06.json
@@ -0,0 +1,18 @@
+{
+    "((1576, 2264), (867, 2593))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json b/raw/oakinkv2/program/program_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec752d1ae3021fd0b6be3b2a0f9e3e74e8f7c73d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A007++seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02.json
@@ -0,0 +1,161 @@
+{
+    "((729, 1365), (777, 1373))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (1625, 2090))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "take_outside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((2234, 2602), None)": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((2750, 3379), (2750, 3399))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "(None, (3519, 3923))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((3619, 4019), None)": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_pencil",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((4019, 4700), (3975, 4700))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "sharpen_pencil",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ]
+    },
+    "((4700, 5100), (4772, 5048))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0029@00007",
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ]
+    },
+    "((5100, 5216), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "((5328, 7363), (5168, 7309))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((7814, 13726), (7942, 14234))": {
+        "primitive": "shear_paper",
+        "obj_list": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shear_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0035@00001",
+            "O02@0035@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..747581f1dad873776a5e49b9528049ac0703c7e3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__078629ed55daa617fcdd__2023-04-23-10-30-03.json
@@ -0,0 +1,18 @@
+{
+    "((690, 1498), (646, 1490))": {
+        "primitive": "plug_in_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "plug_in_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..2292af6b513cd96017bc3b07098146ffc05d6824
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__12144603cf99ef98fd4d__2023-04-23-10-39-56.json
@@ -0,0 +1,28 @@
+{
+    "((543, 963), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1023, 1360), None)": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ac65f94d9907a3fbc0802f6211886283a0deab
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__13834358e28bb0caa81b__2023-04-23-09-31-07.json
@@ -0,0 +1,15 @@
+{
+    "((1052, 1292), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..03584b12f993d0845df6341c2fa18eeb367ad2bf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__28c4c942629d21011ba5__2023-04-23-09-39-57.json
@@ -0,0 +1,18 @@
+{
+    "((335, 1100), (431, 1048))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ca3554862bbd2aa2d68afde0271b07001c1468c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53.json
@@ -0,0 +1,49 @@
+{
+    "((686, 1310), (746, 1210))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1446, 1826), (1318, 1826))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00001"
+        ]
+    },
+    "((1967, 2435), (1967, 2399))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..e12fd69cf39c354540cf5c642f3f0ee843fda221
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50.json
@@ -0,0 +1,18 @@
+{
+    "((402, 894), (346, 862))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..e54771079645b4b7338ea8869709024a4054cf52
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__2e0d017822664c54200d__2023-04-23-10-02-23.json
@@ -0,0 +1,52 @@
+{
+    "((684, 1428), (684, 1368))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "((1540, 2025), (1508, 1997))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002",
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "take_outside",
+        "obj_list_lh": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00001"
+        ]
+    },
+    "((2065, 2849), (2165, 2817))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..219f2a0f1853e5fc90f74fdcfff15475572aa77e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48.json
@@ -0,0 +1,79 @@
+{
+    "((631, 916), (631, 920))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ]
+    },
+    "((976, 1332), (976, 1436))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1436, 2149), (1496, 2149))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2278, 2950), None)": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_inside",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3198, 3943), (3198, 3963))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..d95d8f6117c28a6f2d1db7f1640ce3093cba7a63
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__502427eb19bcecb4c98b__2023-04-23-09-41-55.json
@@ -0,0 +1,20 @@
+{
+    "((367, 925), (503, 949))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc382f9103d3d94d305f590241c3c7acf3e261d7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__638fe03c849aae3de16c__2023-04-23-09-36-48.json
@@ -0,0 +1,15 @@
+{
+    "((926, 2589), (956, 2531))": {
+        "primitive": "remove_lightbulb",
+        "obj_list": [
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lightbulb",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0805f2adf031398702030998578e16790c46a0
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__6972749dca2bae65783a__2023-04-23-10-37-07.json
@@ -0,0 +1,17 @@
+{
+    "(None, (811, 2281))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "staple_paper_together",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0037@00001",
+            "O02@0037@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f4c2b71d3722c7216950f83638cbcb351818b7b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__72152aa73891712656e2__2023-04-23-09-51-29.json
@@ -0,0 +1,101 @@
+{
+    "(None, (497, 721))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((681, 914), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (826, 1634))": {
+        "primitive": "insert_pencil",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "insert_pencil",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((1013, 2631), (1754, 2715))": {
+        "primitive": "sharpen_pencil",
+        "obj_list": [
+            "O02@0044@00002",
+            "O02@0044@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "sharpen_pencil",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0044@00001"
+        ]
+    },
+    "((2675, 3075), (2748, 3191))": {
+        "primitive": "remove_pencil",
+        "obj_list": [
+            "O02@0044@00001",
+            "O02@0044@00002",
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_pencil",
+        "obj_list_lh": [
+            "O02@0044@00001",
+            "O02@0044@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    },
+    "((3151, 3279), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00007"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3235, 3567))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..40971cae0a74475e58dc5000441e6734accec8d5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__75d23e8c30535d102b4b__2023-04-23-10-35-42.json
@@ -0,0 +1,28 @@
+{
+    "((564, 1100), None)": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1164, 1805), (904, 1845))": {
+        "primitive": "staple_paper_together",
+        "obj_list": [
+            "O02@0037@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "staple_paper_together",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0037@00001"
+        ],
+        "obj_list_rh": []
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..15dbdf2e95019dd504df9b694c7287c8c5a512ed
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12.json
@@ -0,0 +1,63 @@
+{
+    "((438, 695), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0029@00011"
+        ],
+        "obj_list_rh": null
+    },
+    "((799, 1827), (666, 1827))": {
+        "primitive": "remove_the_pen_cap",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_the_pen_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((2184, 3777), (1827, 3993))": {
+        "primitive": "write_on_whiteboard",
+        "obj_list": [
+            "O02@0029@00011",
+            "O02@0054@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    },
+    "((3993, 4745), (3993, 5058))": {
+        "primitive": "cap_the_pen",
+        "obj_list": [
+            "O02@0029@00012",
+            "O02@0029@00011"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "cap_the_pen",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0029@00012"
+        ],
+        "obj_list_rh": [
+            "O02@0029@00011"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b7156322ada39090cad8121c765f6ed8834218
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24.json
@@ -0,0 +1,95 @@
+{
+    "((524, 740), (524, 740))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001",
+            "O02@0018@00002"
+        ]
+    },
+    "((836, 1136), (784, 1332))": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00002",
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_lid",
+        "obj_list_lh": [
+            "O02@0018@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((1240, 1472), None)": {
+        "primitive": "remove_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_lid",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1548, 1761), (1404, 1777))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    },
+    "((2013, 2557), (1957, 2321))": {
+        "primitive": "take_outside",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0018@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "take_outside",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00002"
+        ]
+    },
+    "((2733, 3562), (2733, 3570))": {
+        "primitive": "put_on_lid",
+        "obj_list": [
+            "O02@0018@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "put_on_lid",
+        "primitive_rh": "put_on_lid",
+        "obj_list_lh": [
+            "O02@0018@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0018@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__afea3bee7d688ce1a062__2023-04-23-09-43-47.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__afea3bee7d688ce1a062__2023-04-23-09-43-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03101a4dc701ef41a334281f453f7d8f039a195
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__afea3bee7d688ce1a062__2023-04-23-09-43-47.json
@@ -0,0 +1,18 @@
+{
+    "((181, 978), (281, 918))": {
+        "primitive": "open_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "open_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__b1586429009f2901b2cc__2023-04-23-09-42-34.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__b1586429009f2901b2cc__2023-04-23-09-42-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..0854279d53b925ac19212668ec3120e6923bfa99
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__b1586429009f2901b2cc__2023-04-23-09-42-34.json
@@ -0,0 +1,20 @@
+{
+    "((459, 1352), (403, 1352))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001",
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f942cd5f9fdeb4f7d6aee1fe0f4ee007df9b9338
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00.json
@@ -0,0 +1,15 @@
+{
+    "((401, 525), None)": {
+        "primitive": "press_button",
+        "obj_list": [
+            "O02@0045@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "press_button",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0045@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..554641cdea2d89be3e8219db7f1185fe8e4459b6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45.json
@@ -0,0 +1,18 @@
+{
+    "((708, 1528), (442, 1444))": {
+        "primitive": "put_flower_into_vase",
+        "obj_list": [
+            "O02@0080@00001",
+            "O02@0081@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_flower_into_vase",
+        "obj_list_lh": [
+            "O02@0080@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0081@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a77321b6ee44bc451e5fefd4a1c0089ec6afcd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33.json
@@ -0,0 +1,18 @@
+{
+    "((468, 1177), (516, 1137))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00002",
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__d447873bf1bc844be9a1__2023-04-23-09-35-30.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__d447873bf1bc844be9a1__2023-04-23-09-35-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..87609b23651d5ac34aecc4598247318bd07b5ef7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__d447873bf1bc844be9a1__2023-04-23-09-35-30.json
@@ -0,0 +1,31 @@
+{
+    "(None, (196, 236))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    },
+    "((1545, 3711), (1545, 3711))": {
+        "primitive": "insert_lightbulb",
+        "obj_list": [
+            "O02@0045@00002",
+            "O02@0028@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_lightbulb",
+        "obj_list_lh": [
+            "O02@0045@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0028@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__db610c98752a6bccc54b__2023-04-23-10-27-43.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__db610c98752a6bccc54b__2023-04-23-10-27-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..9421fe0e8b1c501cfda9f33339e1db5ee472bbe0
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__db610c98752a6bccc54b__2023-04-23-10-27-43.json
@@ -0,0 +1,15 @@
+{
+    "((617, 3391), (384, 3787))": {
+        "primitive": "write_on_paper",
+        "obj_list": [
+            "O02@0029@00007"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "write_on_paper",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0029@00007"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..6271bc8ef93b84e90d5a44650f7cc6587ad5905e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03.json
@@ -0,0 +1,18 @@
+{
+    "((499, 1355), (531, 1331))": {
+        "primitive": "remove_power_plug",
+        "obj_list": [
+            "O02@0048@00002",
+            "O02@0048@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_power_plug",
+        "obj_list_lh": [
+            "O02@0048@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0048@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json b/raw/oakinkv2/program/program_info/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..a336ce66aaab14c7b71f0057b216102247c540bd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__A008++seq__f055850a2107160088f3__2023-04-23-10-01-25.json
@@ -0,0 +1,47 @@
+{
+    "((622, 1315), (622, 1351))": {
+        "primitive": "pull_out_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pull_out_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    },
+    "(None, (1547, 2212))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0047@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0047@00001"
+        ]
+    },
+    "((2436, 2984), (2360, 2956))": {
+        "primitive": "push_in_drawer",
+        "obj_list": [
+            "O02@0019@00001",
+            "O02@0019@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "push_in_drawer",
+        "obj_list_lh": [
+            "O02@0019@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0019@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O001++seq__001ce74e719d859e35d1__2023-04-04-16-02-01.json b/raw/oakinkv2/program/program_info/scene_02__O001++seq__001ce74e719d859e35d1__2023-04-04-16-02-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..95118e01d08d3ee1ade7b0840e4f85228dcc32e8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O001++seq__001ce74e719d859e35d1__2023-04-04-16-02-01.json
@@ -0,0 +1,18 @@
+{
+    "((901, 1410), (680, 1301))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O001++seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37.json b/raw/oakinkv2/program/program_info/scene_02__O001++seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..e133c1f89aeb2a460dbe6bf45bf6a09c4bcd009e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O001++seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37.json
@@ -0,0 +1,18 @@
+{
+    "((737, 1672), (737, 1803))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json b/raw/oakinkv2/program/program_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..1886a2392fb58197b392d07e2cf18b613502078d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O003++seq__2a060a99bf3342bd1398__2023-04-12-10-22-38.json
@@ -0,0 +1,18 @@
+{
+    "((1407, 4497), (1076, 5066))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0054@00001",
+            "O02@0055@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": [
+            "O02@0054@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0055@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json b/raw/oakinkv2/program/program_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf09d823e4dde09d26bb2f9af28e8e225e11251
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O003++seq__499f174f9f1eb9181733__2023-04-12-09-40-17.json
@@ -0,0 +1,18 @@
+{
+    "((589, 1455), (668, 1455))": {
+        "primitive": "remove_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json b/raw/oakinkv2/program/program_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3be9fece0ea8fe7fe36657f8d8b74d4cb48f7bd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O003++seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15.json
@@ -0,0 +1,18 @@
+{
+    "((655, 1278), (663, 1241))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00001",
+            "O02@0047@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "insert_usb",
+        "obj_list_lh": [
+            "O02@0047@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0047@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json b/raw/oakinkv2/program/program_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..99c88c7909e7f2c2010dbb3cbe186a71b3318626
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O003++seq__b4972805ad797ac38b6f__2023-04-12-11-05-36.json
@@ -0,0 +1,30 @@
+{
+    "((1215, 2314), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0053@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2354, 2797), (1607, 2797))": {
+        "primitive": "close_laptop_lid",
+        "obj_list": [
+            "O02@0053@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "close_laptop_lid",
+        "primitive_rh": "close_laptop_lid",
+        "obj_list_lh": [
+            "O02@0053@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json b/raw/oakinkv2/program/program_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..111feaac7d899d6d67e2c4860a743e368cdc6ce3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O003++seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17.json
@@ -0,0 +1,18 @@
+{
+    "((1105, 2910), (1521, 2910))": {
+        "primitive": "insert_usb",
+        "obj_list": [
+            "O02@0047@00002",
+            "O02@0053@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "insert_usb",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0047@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0053@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json b/raw/oakinkv2/program/program_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dedf0bf4230212aa216983206e90980e24e668c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_02__O003++seq__eb87745d476a9267f8c5__2023-04-12-10-25-08.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1269, 4443))": {
+        "primitive": "brush_whiteboard",
+        "obj_list": [
+            "O02@0055@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "brush_whiteboard",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0055@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__1be0ede087e0ca11e442__2023-04-27-18-20-49.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__1be0ede087e0ca11e442__2023-04-27-18-20-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c56060ad428da4787c818cbafc9ddfe8b7a10b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__1be0ede087e0ca11e442__2023-04-27-18-20-49.json
@@ -0,0 +1,41 @@
+{
+    "(None, (1197, 1686))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (1686, 2679))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (2679, 3507))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__53be15af2c1f6371a18c__2023-04-27-18-18-03.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__53be15af2c1f6371a18c__2023-04-27-18-18-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2495fbf770211dcb29004bcee486f055e64074e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__53be15af2c1f6371a18c__2023-04-27-18-18-03.json
@@ -0,0 +1,44 @@
+{
+    "(None, (2352, 2940))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((1043, 6403), (2940, 5054))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (5054, 5763))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc79d5b27f91318a502fb2e8bccff59b5a0cfa72
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1119, 2201))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d343e0eba3825857b4053f1cba4a3ec08ef7397
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00.json
@@ -0,0 +1,15 @@
+{
+    "((1166, 3680), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5d5ffac4b726ab99ab309c26474bd63391fe89
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04.json
@@ -0,0 +1,44 @@
+{
+    "((581, 1805), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1805, 4996), (2114, 6042))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((4996, 5936), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f285690c7c9d0ff6342b78d682ba857529d611f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07.json
@@ -0,0 +1,63 @@
+{
+    "((1207, 1992), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1992, 3721), (1992, 3721))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3721, 6667))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (6667, 8897))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17d591544cf253e8ee7a632ddb9b14739af3873
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1248, 2321))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A001++seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30.json b/raw/oakinkv2/program/program_info/scene_03__A001++seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..957e5cbee833fa1e39a5dd6e109a71808610b635
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A001++seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30.json
@@ -0,0 +1,28 @@
+{
+    "((1205, 1837), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2357, 3786))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..e01a3811af7aa378e7602fbd4a7fa3ea0f278be8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1226, 2114))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (2451, 3511))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..9461a0d852164a781ceba0338a8fc9b7be8ee433
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22.json
@@ -0,0 +1,95 @@
+{
+    "((956, 1564), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1564, 3910), (1564, 3870))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3914, 4634), (4054, 4634))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4634, 5939))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4794, 5307), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((6271, 6684), (5939, 6884))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b14d77b22af2166e7b97f4c531f4c5c24477e6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__0f90057f6302c9e0a117__2023-04-26-19-33-13.json
@@ -0,0 +1,245 @@
+{
+    "((930, 2596), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2796, 3072))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (3176, 3648))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((3861, 4691), (4249, 4569))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((4691, 5944), (4813, 5794))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((5944, 6194), (6094, 6178))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((6274, 6326), (6302, 6330))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((6458, 6999), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7487, 7595))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
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+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
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+        ],
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+            "O02@0206@00002"
+        ]
+    },
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+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
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+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
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+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((9521, 9977), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
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+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((10221, 10533), (10197, 10591))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "(None, (10591, 11042))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((10649, 10846), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((10934, 13479), (11206, 13407))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1a39b9724154d0bf1a83fa62b88a0d19c77f4d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39.json
@@ -0,0 +1,91 @@
+{
+    "(None, (1120, 1705))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (1825, 3438))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((3310, 3438), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3438, 4155), (3438, 4155))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4155, 4907))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4907, 5824))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7dcbdc7e6a6d44d87108df1de6b585efbdec64b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__11cb7b777e42709b6f08__2023-04-22-19-35-01.json
@@ -0,0 +1,70 @@
+{
+    "(None, (1038, 1518))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((1755, 2287), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2643, 3168), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3292, 3648))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((4056, 4769), (3760, 4749))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..d154930cfbd06ff2ff274041a4942ceb5cbf0f26
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45.json
@@ -0,0 +1,70 @@
+{
+    "(None, (998, 1954))": {
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+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "(None, (1954, 2415))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((2170, 2415), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_rh": null,
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+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2415, 4312), (2415, 4312))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((4312, 4796), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..369f79e63b8ab9f4296c0ed1e2f8447766818100
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02.json
@@ -0,0 +1,128 @@
+{
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+        "primitive_rh": "remove_from_test_tube_rack",
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+        "obj_list": [
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+        "obj_list": [
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+        ],
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+    },
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+        "obj_list": [
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+            "O02@0202@00001"
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+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
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+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (3629, 4057))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
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+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
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+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "remove_from_test_tube_rack",
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+        "obj_list_rh": [
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+        ]
+    },
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+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (8941, 9453))": {
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+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e55f1d1b19d06f4a68c3f8817ddf2eb13902a67
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58.json
@@ -0,0 +1,122 @@
+{
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+        "obj_list_rh": [
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+        "obj_list_lh": [
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+        ],
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+    },
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+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
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+        "interaction_mode": "rh_main",
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+            "O02@0202@00001"
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+    },
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+        "obj_list_rh": [
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+        "obj_list": [
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+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3619, 4031))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": null,
+        "obj_list_rh": [
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+    "(None, (4031, 4324))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f49bf3e3447091ceb3dcc6010c33f01c90813a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__20aed35da30d4b869590__2023-04-22-18-45-27.json
@@ -0,0 +1,18 @@
+{
+    "((1284, 2353), (1056, 2353))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9811de559b764b27a77ee734dcc3719103a93
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__2b3453103507ee1eb883__2023-04-22-18-33-52.json
@@ -0,0 +1,43 @@
+{
+    "(None, (1014, 1226))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((1383, 1464), (1226, 2336))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (2336, 2845))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0917f4a3b82298b318a7b520aed064ee711244
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17.json
@@ -0,0 +1,260 @@
+{
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+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
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+        "obj_list_rh": null
+    },
+    "((1585, 2489), None)": {
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+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1837, 2489))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((2489, 4415), (2489, 4471))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "(None, (4471, 5403))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((4847, 5403), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
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+        "primitive_rh": null,
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+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((6432, 7353), (6432, 7353))": {
+        "primitive": "swap",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "swap",
+        "primitive_rh": "swap",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((7353, 8718), (7353, 8718))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((8718, 9623), (8718, 9623))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((9623, 10791), (9623, 10791))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((10791, 11520), (10791, 11520))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((11520, 12072), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
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+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (11520, 12212))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((12320, 13017), (12212, 13017))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "(None, (13017, 13757))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((13661, 13858), None)": {
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+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (13814, 14194))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d5144e613d65222d45eb32a832de6201df42fb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__3336916e549e83db1d07__2023-04-22-19-39-24.json
@@ -0,0 +1,41 @@
+{
+    "((822, 1142), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1070, 2255))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "(None, (3299, 3880))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..306a65c45578690208a756586483dc25c52d74f8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__37c5d9dee2211548007b__2023-04-22-20-13-50.json
@@ -0,0 +1,41 @@
+{
+    "(None, (757, 1242))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((1514, 2030), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2399, 3079))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee9907f4954af1f2275d99d51561db137aa5445
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43.json
@@ -0,0 +1,245 @@
+{
+    "((950, 1330), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1526, 1902))": {
+        "primitive": "rearrange",
+        "obj_list": [
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+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2743, 4636), (2090, 4936))": {
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+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
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+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (5133, 5561))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
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+        "obj_list": [
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+            "O02@0201@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": "rearrange",
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+            "O02@0201@00001"
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+        "obj_list": [
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
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+        ],
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+            "O02@0206@00001"
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+    },
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+        "obj_list": [
+            "O02@0200@00001"
+        ],
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+        "primitive_rh": "ignite_alcohol_lamp",
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+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0201@00001"
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+        "primitive_lh": "rearrange",
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+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0201@00001"
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+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
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+    },
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
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+    },
+    "((12894, 13446), (12874, 13362))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
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+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((13446, 14237), (13531, 14211))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((14237, 14711), (14263, 14575))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (14804, 15488))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((15364, 17562), (15688, 17337))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (17538, 18010))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..28d51412a0bdaeac45dd0268513d2f5cda15f55d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__419a3a06276de7db2371__2023-04-22-20-25-48.json
@@ -0,0 +1,99 @@
+{
+    "(None, (924, 1316))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1456, 2969), (1481, 2689))": {
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+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (2878, 3054))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3122, 3314), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3314, 4967), (3054, 4783))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (4922, 5643))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (5643, 5892))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..1987ffeebdc380e8aa762da64d03fd7e6b917824
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__599af4209f9b393da8fa__2023-04-22-19-33-09.json
@@ -0,0 +1,28 @@
+{
+    "(None, (957, 2286))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((2462, 3095), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..46f2a90b9112024a83e201dbe610c49e60a8a83f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13.json
@@ -0,0 +1,70 @@
+{
+    "(None, (1103, 1755))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1423, 1755), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1755, 4017), (1755, 3757))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (3969, 4833))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (4833, 5274))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d023a2be4bc3a43a95876cf99655840169a6b1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__6490867837c3654b8150__2023-04-22-20-28-38.json
@@ -0,0 +1,80 @@
+{
+    "((812, 1111), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
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+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        "obj_list_rh": null
+    },
+    "(None, (1308, 2241))": {
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
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+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((4170, 4586), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4683, 5151), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc4d4b7df3f77344fc0a56b271994fa8ef701196
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__667dd3e0c94947396317__2023-04-22-19-52-38.json
@@ -0,0 +1,31 @@
+{
+    "((903, 2352), (1156, 2280))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (2557, 3781))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0011@00002"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af0fa4824866c59b637b7270f77de2e30b8b600
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01.json
@@ -0,0 +1,260 @@
+{
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
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+            "O02@0206@00001"
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+        "primitive_rh": "ignite_alcohol_lamp",
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+        "obj_list": [
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+        "obj_list_lh": [
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+        "primitive": "rearrange",
+        "obj_list": [
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
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+        "obj_list": [
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
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+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "place_asbestos_mesh",
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+        "obj_list_rh": [
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+        ]
+    },
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+        "obj_list": [
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
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+        "obj_list_lh": [
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+    },
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+        "obj_list": [
+            "O02@0011@00003"
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+        "interaction_mode": "lh_main",
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+    },
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+        "primitive": "rearrange",
+        "obj_list": [
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+        "interaction_mode": "bh_main",
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
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+    },
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
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+        "obj_list_lh": [
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+    },
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+        "primitive": "hold",
+        "obj_list": [
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
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+        "obj_list_rh": [
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+        "obj_list": [
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+        "obj_list_rh": [
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+    "(None, (8306, 9659))": {
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+        "obj_list": [
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+        "primitive_rh": "hold",
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+        "obj_list_rh": [
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+        ]
+    },
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+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
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+    },
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+        "obj_list": [
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+            "O02@0011@00002"
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
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+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "(None, (11332, 11789))": {
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+        "obj_list": [
+            "O02@0033@00002"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__6ece6fbebb2067474253__2023-04-22-20-42-59.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__6ece6fbebb2067474253__2023-04-22-20-42-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b11ee59869d308b0db110874944834afe3855a4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__6ece6fbebb2067474253__2023-04-22-20-42-59.json
@@ -0,0 +1,160 @@
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+            "O02@0202@00001"
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+            "O02@0202@00002"
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+        "primitive_rh": "place_on_test_tube_rack",
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+        "obj_list_rh": [
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+    "((6365, 6669), None)": {
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+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
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+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6669, 7166), None)": {
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+        "obj_list": [
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+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__70bf7db171a7430a59a3__2023-04-22-20-30-56.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__70bf7db171a7430a59a3__2023-04-22-20-30-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..1007af09e639bcf517e0331a2cdeef09101ba23d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__70bf7db171a7430a59a3__2023-04-22-20-30-56.json
@@ -0,0 +1,118 @@
+{
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+    },
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+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
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+            "O02@0203@00001",
+            "O02@0203@00002"
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+        ]
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+    },
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+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
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\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4cd1e0ae87d2e25d703672e2326047d0569b2c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39.json
@@ -0,0 +1,73 @@
+{
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+    },
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
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+        "primitive": "place_on_test_tube_rack",
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+        "obj_list_lh": [
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+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..05e31fa3d0b48fbeed0d79c4537d8d95bcfb4c34
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07.json
@@ -0,0 +1,358 @@
+{
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+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((9681, 9993), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (9681, 10029))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((10342, 10630), (10270, 10618))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((10630, 10786), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((10994, 11386), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((11386, 11855), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (11575, 11855))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((11855, 12299), (11855, 12299))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((12299, 12767), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (12299, 12663))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (12787, 14016))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea96d8c9d0ec55742a880308d547a2a139d6f71
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18.json
@@ -0,0 +1,86 @@
+{
+    "((1163, 1239), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1359, 1639), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1639, 3425), (1639, 3425))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3425, 3853), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((4125, 4473), (4177, 4465))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001",
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (4610, 5806))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb0c37b25cd3e124ec904c033114f02fef932c6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34.json
@@ -0,0 +1,154 @@
+{
+    "((1083, 1499), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1499, 2364), (1687, 2104))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (2320, 3501))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((3721, 4237), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0201@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((4390, 4894), None)": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5210, 5871), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((6523, 7088), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((7088, 7984), (7208, 7800))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (8388, 8565))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((8845, 10494), (8565, 10602))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (10602, 10970))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__85abe9be20dc1401359b__2023-04-22-19-37-32.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__85abe9be20dc1401359b__2023-04-22-19-37-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..8130314d8813e97c2be3c0b575c863ab3c474ef4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__85abe9be20dc1401359b__2023-04-22-19-37-32.json
@@ -0,0 +1,82 @@
+{
+    "((1057, 1185), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1185, 1545), (929, 1577))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1577, 2358))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((2562, 2946), (2358, 3131))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((3499, 3975), (3315, 3975))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__89667ef51c43f56a5d07__2023-04-22-18-31-50.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__89667ef51c43f56a5d07__2023-04-22-18-31-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15098cd4c1f91534351cec22c34b9380593817f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__89667ef51c43f56a5d07__2023-04-22-18-31-50.json
@@ -0,0 +1,70 @@
+{
+    "(None, (952, 1524))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1808, 2381), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2545, 4122), (2257, 4058))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (4058, 4566))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (4765, 5227))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__897a4742e7e787a11b08__2023-04-22-20-46-30.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__897a4742e7e787a11b08__2023-04-22-20-46-30.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bfa64af5afc697de0c9b5482b57645907ea9181
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__897a4742e7e787a11b08__2023-04-22-20-46-30.json
@@ -0,0 +1,112 @@
+{
+    "((1098, 1478), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1478, 3331), (677, 3155))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
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+        "primitive_rh": "pour_in_lab",
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+        ],
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+        "obj_list_lh": [
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+        ],
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+    },
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+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((5581, 5901), None)": {
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+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8226d4240c24c3254c6ad9ec6fbcdcdf81c8c6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__8e5df63b75649763e706__2023-04-26-19-22-54.json
@@ -0,0 +1,198 @@
+{
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+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
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+        ]
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+            "O02@0011@00002"
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+            "O02@0200@00001"
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+        "obj_list": [
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
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+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
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+            "O02@0011@00003"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "heat_beaker",
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
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+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
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+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__94d04425afc1b0851feb__2023-04-22-19-05-10.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__94d04425afc1b0851feb__2023-04-22-19-05-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8dd94f7d2bbc1659b2a6b3f490b4f39b08bac26
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__94d04425afc1b0851feb__2023-04-22-19-05-10.json
@@ -0,0 +1,44 @@
+{
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+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (2988, 3252))": {
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+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
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+        ],
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+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..511408c323108acc09a0cabd69410f50a37d7cb1
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__9523ffa206757aa7c07c__2023-04-26-18-34-29.json
@@ -0,0 +1,194 @@
+{
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+        ],
+        "interaction_mode": "lh_main",
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+        "primitive_rh": "rearrange",
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+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
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+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "remove_from_test_tube_rack",
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+        "obj_list_rh": [
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+        ]
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+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0202@00001"
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+        "interaction_mode": "lh_main",
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+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (11260, 11705))": {
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+        "obj_list": [
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+        "obj_list_lh": null,
+        "obj_list_rh": [
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+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..42da2a0e9bf457d96fd4999d2771eafe085d8be8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__a534562c360e83490669__2023-04-26-18-29-08.json
@@ -0,0 +1,193 @@
+{
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+        "obj_list": [
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+        "primitive_rh": "remove_from_test_tube_rack",
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+        "obj_list_rh": [
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+        ]
+    },
+    "((4065, 4621), (4225, 4670))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4670, 5851))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((6031, 7604), (5851, 7604))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((7604, 8404), (7604, 8432))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((8593, 8757), (8432, 9137))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((8757, 9053), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f0932511d1bc90f4ec5ff4ed662a5b277382ab
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__a779dab47a0fea5af26e__2023-04-22-20-16-22.json
@@ -0,0 +1,69 @@
+{
+    "((984, 1288), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1424, 1588), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1724, 2553))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2580, 2725), (2757, 3101))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (3445, 3990))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e2855d393686f50caafb0aac20d4cd1cd242b0f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42.json
@@ -0,0 +1,34 @@
+{
+    "((941, 1954), (1113, 1798))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((2626, 3951), (2798, 4119))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1b57081b0982e56106e0364845835be6a8988da
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40.json
@@ -0,0 +1,123 @@
+{
+    "((1265, 1386), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1386, 2575), (1006, 2519))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2679, 3712), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2679, 3712))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((3712, 4144), (3712, 4144))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4144, 4800))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4945, 5253), (4800, 5669))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((5253, 5545), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..b998d4b84eecb64054241ac28c7dcee5c655918d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03.json
@@ -0,0 +1,267 @@
+{
+    "(None, (1038, 1455))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "((1667, 2195), (1667, 2215))": {
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+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((2315, 2484), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((3158, 4435), (3252, 4305))": {
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
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+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((4435, 4825), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4565, 4865))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0205@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((5598, 6226), None)": {
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+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
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+        "primitive_rh": "stir_experiment_substances",
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+        "obj_list_rh": [
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+        ]
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+        "obj_list": [
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+        "primitive_rh": "rearrange",
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+    },
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+        "obj_list": [
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+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((9873, 10121), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0201@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (10215, 10641))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((10309, 10673), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (10745, 11166))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((11122, 13087), (11402, 12887))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0033@00002",
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "(None, (13039, 13371))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..5719b395922d212fc287ccf3f7d6e0f9a27cab43
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__b5fa37e582ac84807337__2023-04-26-19-53-13.json
@@ -0,0 +1,224 @@
+{
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "((1610, 2146), None)": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2315, 2619), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2619, 3180), (2775, 3151))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((3180, 4510), (3303, 4424))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((4510, 5049), (4596, 4985))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (5057, 5133))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((5337, 5734), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6070, 7964))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((8272, 8597), (8272, 8469))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((8597, 9200), (8677, 9181))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((9200, 9409), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((9717, 10222), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (10530, 10858))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (10858, 11399))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (11399, 11887))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba048738e164fb6b6f5604dbe5536724677169e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__b7853a8caac0b26347c1__2023-04-26-19-19-49.json
@@ -0,0 +1,166 @@
+{
+    "(None, (1103, 1399))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((1527, 1819), (1399, 1827))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001",
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (2031, 3184))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "(None, (3364, 3925))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (4033, 4533))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((4605, 4957), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5169, 5450), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((5578, 6106), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((6162, 7844), (5906, 8356))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (8664, 9225))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((9625, 9917), (9545, 9741))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (10029, 10570))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..080457515fc17b41e22ffe4dd7bcc57924013abc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37.json
@@ -0,0 +1,60 @@
+{
+    "((934, 2255), (1223, 2119))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((3384, 3612), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3612, 5173), (3032, 5173))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5173, 5618), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d8db91684effd7ceb143337144604656fa18dd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__c50cea3a13b82213994f__2023-04-22-18-29-19.json
@@ -0,0 +1,57 @@
+{
+    "(None, (1445, 1997))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1649, 1997), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1997, 4150), (1997, 4150))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((4150, 4804), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07.json
new file mode 100644
index 0000000000000000000000000000000000000000..74562e67eb693803d086ddc37b021241b48cb080
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07.json
@@ -0,0 +1,28 @@
+{
+    "(None, (1055, 1575))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (1775, 2620))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb58401e1e655a8ef4d0f83afa71ffa146c58a2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49.json
@@ -0,0 +1,93 @@
+{
+    "(None, (753, 1354))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((1566, 1810), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1934, 2054), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2186, 2987))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "(None, (3143, 3571))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (3631, 3768))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (4032, 4564))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..53c9c60e25fb50dd33793b25f4b2f910c18fed7e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__d8f7706647ace123df37__2023-04-22-20-19-15.json
@@ -0,0 +1,99 @@
+{
+    "((900, 1145), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1261, 2073))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2686, 2834), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2834, 3514), (2281, 3514))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
+    "(None, (3514, 4187))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
+    "((4311, 4531), (4187, 4935))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
+    "((4531, 4747), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa798e1c246c959174a13878f6a403719c577509
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__d9987909c09e38143ec8__2023-04-22-18-41-41.json
@@ -0,0 +1,107 @@
+{
+    "((1054, 1319), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1319, 2219), (1319, 2219))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2219, 3989))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((2476, 3084), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3888, 4177), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3989, 4180))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4649, 5097), (4180, 5478))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8344410d270002ed5ebe1b802e21348e749530c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__da60be610023cdf04491__2023-04-22-19-29-49.json
@@ -0,0 +1,81 @@
+{
+    "((1199, 1367), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1367, 1716), (875, 1716))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1716, 2124))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2124, 2900))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((3081, 3793), (2900, 3757))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..33580b6a7b8c2faae6e850fee6a44b64a6de6d5a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56.json
@@ -0,0 +1,254 @@
+{
+    "(None, (1202, 1782))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((1698, 3988), (1979, 3792))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (3948, 4320))": {
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+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_rh": "place_on_test_tube_rack",
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+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
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+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
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+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
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+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
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+        "obj_list": [
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+            "O02@0200@00001"
+        ],
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+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
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+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "(None, (7140, 7992))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
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+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
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+            "O02@0203@00001"
+        ],
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+        "primitive_lh": "rearrange",
+        "primitive_rh": "hold_test_tube",
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+        ],
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
+    "(None, (8681, 9826))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "heat_test_tube",
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+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
+    "(None, (9826, 11051))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
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+        "primitive_lh": "rearrange",
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+        "obj_list_lh": [
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+        ],
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+    },
+    "((10294, 11051), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((11267, 12047), (11051, 11847))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001"
+        ]
+    },
+    "(None, (12015, 12568))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (12568, 12964))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (13164, 14701))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((15017, 15722), (14837, 15614))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..212dcefd4d7796fbebdbd87096a16a79b13520ee
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__dd7fe851e3065043361f__2023-04-22-20-38-45.json
@@ -0,0 +1,120 @@
+{
+    "((642, 930), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive_rh": "ignite_alcohol_lamp",
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+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
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+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3280, 3876))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3876, 4813))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4921, 5181), (4813, 5669))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((5181, 5521), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2a93a629ad254351603abe8478bb8fdb5000e81
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__dee46deb1c028e704b73__2023-04-26-18-43-32.json
@@ -0,0 +1,128 @@
+{
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+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((1702, 2447), (1798, 2819))": {
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "(None, (3159, 3752))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (3964, 4520))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((4792, 5321), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((5889, 6498), (5845, 6402))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": []
+    },
+    "((6498, 7430), (6542, 7266))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (7606, 9668))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f57efd90ac0b15808162730aa9060c40398e079
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e177c5412c3306d7d46b__2023-04-26-18-21-01.json
@@ -0,0 +1,166 @@
+{
+    "((936, 2613), (1320, 2433))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((2729, 2985), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0201@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3053, 3109))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "(None, (3161, 3193))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((3502, 3662), (3250, 3650))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "(None, (3922, 4242))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((4278, 4570), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((4711, 5003), (4623, 4890))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001",
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (4890, 5155))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((5151, 5371), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0200@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (5307, 6148))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((5992, 6244), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df61a49c81c6d1770e18e01c82038cf6fea95e5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e284d16eb46265375a36__2023-04-22-20-35-57.json
@@ -0,0 +1,80 @@
+{
+    "((795, 1112), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1208, 1364), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1552, 2425))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2541, 2865), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3185, 3694))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (3938, 5239))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3021af281a15bb1eb7da66228cb66573ed3f121
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e97733f6d0939bb56475__2023-04-22-18-44-03.json
@@ -0,0 +1,44 @@
+{
+    "((1174, 1555), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1555, 2575), (1835, 2760))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (2868, 4169))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..e79f2b609cd5423235f9eac1a73edbd1d1c0ba48
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__e98067a2336ade7d2edc__2023-04-22-19-50-20.json
@@ -0,0 +1,122 @@
+{
+    "((1098, 1310), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
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+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1602, 2599))": {
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+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2599, 3479))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((2771, 3295), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3479, 4284))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
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+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4468, 4800), (4284, 5277))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4800, 5144), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e59624d565845f17153c80b3fcce7b3ed39d6a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f25e354e1a4d821c6388__2023-04-22-19-56-14.json
@@ -0,0 +1,41 @@
+{
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1856, 2329), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2629, 4022))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
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+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..b38031bc68f89ea7fe7cadc1a3fa83e0c82bbcd5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52.json
@@ -0,0 +1,125 @@
+{
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+        "obj_list": [
+            "O02@0011@00003"
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
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+            "O02@0202@00002"
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+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0011@00003"
+        ],
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+            "O02@0011@00003"
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+    },
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+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
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+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3708, 4221))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
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+    },
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+            "O02@0202@00001"
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
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+    },
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+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "(None, (5161, 5566))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    },
+    "((5161, 6094), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..6948098be24a9a2063070b69846f73bfa180f3a2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39.json
@@ -0,0 +1,164 @@
+{
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1507, 1727))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
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+            "O02@0200@00001"
+        ],
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+        "primitive_rh": "ignite_alcohol_lamp",
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+        "obj_list_rh": [
+            "O02@0200@00001"
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+            "O02@0203@00001"
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+            "O02@0203@00001"
+        ]
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+        "primitive_rh": "hold",
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+        "obj_list_rh": [
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+    },
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+            "O02@0203@00001"
+        ]
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+            "O02@0202@00001"
+        ],
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+        "primitive_rh": "shake_lab_container",
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+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (7883, 8239))": {
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+        "obj_list": [
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+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00a5a987dd70609607ff19fa9ba1120b77d8b18
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11.json
@@ -0,0 +1,266 @@
+{
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+        "obj_list": [
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+        "obj_list_lh": null,
+        "obj_list_rh": [
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+        "obj_list": [
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+        ],
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+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
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+            "O02@0033@00002"
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
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+        "obj_list": [
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+        "obj_list": [
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+            "O02@0011@00003"
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+        "obj_list": [
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+            "O02@0200@00001"
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+        "obj_list": [
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+    },
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+        "obj_list": [
+            "O02@0201@00001"
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+        "interaction_mode": "rh_main",
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+        "obj_list_rh": [
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+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
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+        "primitive_rh": null,
+        "obj_list_lh": [
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+            "O02@0206@00001"
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json b/raw/oakinkv2/program/program_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ce442bcefb005283e986907dc9298c08ff213b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A004++seq__facbce031fe123b84569__2023-04-26-18-25-35.json
@@ -0,0 +1,241 @@
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+    },
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
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+    "(None, (9762, 10342))": {
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+        "obj_list": [
+            "O02@0202@00001"
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "pour_in_lab",
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+        "obj_list_rh": [
+            "O02@0202@00001"
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+    },
+    "(None, (10342, 10623))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "place_on_test_tube_rack",
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__22c9ea29ee39cada84df__2023-04-20-10-45-54.json
new file mode 100644
index 0000000000000000000000000000000000000000..8216dc09391544b7cdd7de55ac6f543c8d909140
--- /dev/null
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@@ -0,0 +1,44 @@
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+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..8322f3ee94247a776960993c2846ba03adc3ba4a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19.json
@@ -0,0 +1,141 @@
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+}
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diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae036d5dfd008274797b090815f4d18e5427712
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__278a684018f1f1d1a189__2023-04-25-20-09-41.json
@@ -0,0 +1,157 @@
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+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cf4207110e4d418467e35801be1207d4a0f3265
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__9f9eec1940e610d713ee__2023-04-20-10-49-43.json
@@ -0,0 +1,57 @@
+{
+    "(None, (877, 2066))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1830, 2318), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2442, 3927), (2274, 3271))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (3271, 3799))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5be518e28ef0bd9965ae63f1a009d922d7f3e38
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__a4082b2fec444936befc__2023-04-20-11-01-13.json
@@ -0,0 +1,15 @@
+{
+    "((741, 1602), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aa9510cb178f7aa8eec0591ab06d6c48eebd228
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13.json
@@ -0,0 +1,28 @@
+{
+    "((856, 1216), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1477, 2669))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bc0ead7df32f6fa24f2e845ebc2e819e9abdee
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39.json
@@ -0,0 +1,41 @@
+{
+    "((1213, 1477), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1477, 2186), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2186, 2562), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd2060fe9ad8edb3e8bde6a6cf673be66705e68e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__d77d9efac31d9619bb67__2023-04-20-10-42-55.json
@@ -0,0 +1,44 @@
+{
+    "((1078, 1383), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1383, 4054), (1684, 3654))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (3898, 5107))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A005++seq__e53a4037a875f96a13c6__2023-04-20-10-57-00.json b/raw/oakinkv2/program/program_info/scene_03__A005++seq__e53a4037a875f96a13c6__2023-04-20-10-57-00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f3329c2db82e6a1ea1393a298416da51c12d2a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A005++seq__e53a4037a875f96a13c6__2023-04-20-10-57-00.json
@@ -0,0 +1,46 @@
+{
+    "(None, (894, 1375))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((1631, 2636), (1631, 2636))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001",
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0201@00001",
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0201@00001",
+            "O02@0205@00001"
+        ]
+    },
+    "(None, (2968, 3689))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json
new file mode 100644
index 0000000000000000000000000000000000000000..abaae95ebb837eb7ca24e0a9d2b44722312d8e9c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__030e304a9813d85ae4b9__2023-04-19-11-00-23.json
@@ -0,0 +1,121 @@
+{
+    "((741, 1081), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1081, 1544), (1081, 1506))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((1544, 2250), (1582, 2182))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2254, 2490), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3055, 3159), (2318, 3159))": {
+        "primitive": "remove_test_tube_from_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube_from_rack_with_holder",
+        "obj_list_lh": [],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((3611, 3875), (3159, 3875))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002",
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3875, 4672))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4776, 5016))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eab3683ad7e61df3b3b0942a1e4c728c68b244b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43.json
@@ -0,0 +1,80 @@
+{
+    "((749, 1237), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1449, 2081))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((3883, 4427), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "((4643, 4811), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4811, 5868), None)": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5868, 6292), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json
new file mode 100644
index 0000000000000000000000000000000000000000..1837a5fd15fdf3d3912c9fa1e77cbdb5043cd466
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__15642db4d1b65d2d366b__2023-04-20-15-17-47.json
@@ -0,0 +1,41 @@
+{
+    "(None, (871, 1292))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (1520, 2276))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (2617, 4294))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..862373c0bde71ad64a908d4866146aa416868165
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51.json
@@ -0,0 +1,253 @@
+{
+    "((1200, 2830), (816, 2882))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
+        ]
+    },
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+    },
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+        "obj_list": [
+            "O02@0011@00003"
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+        "obj_list_rh": [
+            "O02@0011@00003"
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
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+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
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+            "O02@0200@00001"
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+        "obj_list_rh": [
+            "O02@0200@00001"
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+    },
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+            "O02@0206@00002"
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+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
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+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
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+        "primitive_lh": "stir_experiment_substances",
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+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0206@00002"
+        ],
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+        "primitive_lh": "rearrange",
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+            "O02@0206@00002"
+        ],
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+    },
+    "((12625, 13162), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
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+            "O02@0206@00001"
+        ],
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+    },
+    "((14218, 14587), None)": {
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+        "obj_list": [
+            "O02@0011@00002"
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+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((14587, 15840), (14707, 15800))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0011@00003"
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+        "primitive_lh": "rearrange",
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+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..f348ed0b23890c463c525effad33d3c979e68006
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36.json
@@ -0,0 +1,92 @@
+{
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+            "O02@0011@00003"
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+        "obj_list_lh": [
+            "O02@0202@00001"
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
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+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
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+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
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+    "(None, (4033, 4669))": {
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+            "O02@0203@00002"
+        ],
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+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4669, 5518))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..d54764c8306e0ec0f6c285f9c1f57897f05be9a9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__211a2995b00d0ea95996__2023-04-21-09-45-45.json
@@ -0,0 +1,316 @@
+{
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+        ],
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+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__233b93f6f9e224aca442__2023-04-20-16-27-10.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__233b93f6f9e224aca442__2023-04-20-16-27-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3b6f707f1946e650fffa56e702eddad14812c4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__233b93f6f9e224aca442__2023-04-20-16-27-10.json
@@ -0,0 +1,80 @@
+{
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+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
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+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
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+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1764, 2045), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
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+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0205@00001"
+        ],
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+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2917, 3245))": {
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+        "obj_list": [
+            "O02@0011@00003"
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+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3454, 3982), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
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+        "obj_list_lh": [
+            "O02@0206@00002"
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+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__28f0e685273ac07a26d8__2023-04-20-14-40-03.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__28f0e685273ac07a26d8__2023-04-20-14-40-03.json
new file mode 100644
index 0000000000000000000000000000000000000000..a405cd156ef41fd8a9a0b109673ee8192da6319e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__28f0e685273ac07a26d8__2023-04-20-14-40-03.json
@@ -0,0 +1,63 @@
+{
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+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2226, 3043))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3043, 4284))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f46a7e682a89d32c77601d9bfa072219bed756
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__29c5832dbc263a424a19__2023-04-20-14-43-10.json
@@ -0,0 +1,15 @@
+{
+    "((798, 1431), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..908a8a6118cdc14bbaa461e4cbbfd0935268135e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31.json
@@ -0,0 +1,446 @@
+{
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+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((961, 1341), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
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+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
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+    },
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+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
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+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
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+            "O02@0202@00001"
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+    },
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0015@00026"
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+            "O02@0015@00026"
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+        "obj_list_lh": [
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+    },
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+    },
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+        "primitive_rh": "ignite_alcohol_lamp",
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+        "obj_list_rh": [
+            "O02@0200@00001"
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+        "obj_list": [
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+        "interaction_mode": "lh_main",
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+    },
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+            "O02@0203@00002"
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+        "obj_list": [
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+            "O02@0203@00002"
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+            "O02@0203@00002"
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+        "obj_list": [
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+            "O02@0015@00023"
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+            "O02@0015@00022"
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+            "O02@0015@00023"
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+        ],
+        "obj_list_rh": [
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+            "O02@0011@00003"
+        ],
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+        "primitive_rh": "heat_beaker",
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+        "obj_list_rh": [
+            "O02@0011@00003"
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+    },
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+        "obj_list": [
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+        ],
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+        "primitive_lh": "remove_from_test_tube_rack",
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+            "O02@0033@00002"
+        ],
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+    },
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+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
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+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
+    "((22826, 23109), None)": {
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+        "obj_list": [
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+        "obj_list_lh": [
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+    },
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+    "(None, (24698, 25035))": {
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+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..a258cf5b91b0b628a11108497c25ca959223a738
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__2ddc8259370decb8672e__2023-04-20-15-30-01.json
@@ -0,0 +1,92 @@
+{
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+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
+    "((1504, 3313), (879, 3293))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3313, 4106), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((4106, 4834), (4106, 4918))": {
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4918, 5755))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (5755, 6680))": {
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+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
new file mode 100644
index 0000000000000000000000000000000000000000..f856b4b72503b1ea7de10d740e5806cbb584e276
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__3680e9111f1211099630__2023-04-20-15-47-28.json
@@ -0,0 +1,76 @@
+{
+    "((697, 1183), None)": {
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+        "obj_list": [],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [],
+        "obj_list_rh": null
+    },
+    "((1380, 1660), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1776, 2036), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2172, 2953))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((3213, 3601), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3833, 4258), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec8c68da5f584bf0da7e24064e593f16fee958f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__384b1f11cfff348ec215__2023-04-19-10-39-36.json
@@ -0,0 +1,70 @@
+{
+    "((839, 1115), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1115, 1765), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1399, 1691))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1765, 3505), (1807, 3316))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (3465, 3921))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..4212cdd97b3300d73a40d1fac4a3ace74382417b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__38754d477e531bf5aa62__2023-04-21-09-50-42.json
@@ -0,0 +1,263 @@
+{
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+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
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+        "interaction_mode": "rh_main",
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+            "O02@0015@00026"
+        ],
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+            "O02@0015@00025",
+            "O02@0015@00026"
+        ]
+    },
+    "((2666, 4131), (2770, 4119))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
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+            "O02@0015@00026",
+            "O02@0015@00025"
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+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
+        ]
+    },
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+        "obj_list": [
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+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
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+        ],
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+    },
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+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
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+        "primitive_rh": "ignite_alcohol_lamp",
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+        "interaction_mode": "lh_main",
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+        "obj_list_lh": [
+            "O02@0203@00001"
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+        "obj_list_rh": null
+    },
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+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
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+        ],
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+        "primitive_lh": "hold",
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+            "O02@0202@00001"
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+            "O02@0203@00002"
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+            "O02@0203@00002"
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+        ]
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+        "primitive_rh": "place_test_tube_on_rack_with_holder",
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+        "obj_list_rh": [
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+            "O02@0203@00002"
+        ]
+    },
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
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+    },
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+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "remove_from_test_tube_rack",
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+            "O02@0202@00001"
+        ],
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+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
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+    },
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+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((15152, 15444), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
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+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b84da9ead97a2c60773180b175d46ecedc507e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49.json
@@ -0,0 +1,347 @@
+{
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+        "obj_list": [
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
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+            "O02@0015@00025"
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+    },
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+        "obj_list": [
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+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00026"
+        ]
+    },
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+        "obj_list": [
+            "O02@0015@00025",
+            "O02@0015@00026"
+        ],
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+        "primitive_lh": "hold",
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+        "obj_list_rh": [
+            "O02@0015@00025"
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+    },
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+        "obj_list": [
+            "O02@0015@00025"
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+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0015@00025"
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+    },
+    "((6327, 7180), None)": {
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+        "obj_list": [
+            "O02@0011@00002"
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+        "obj_list_lh": [
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+    },
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+        "obj_list": [
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+        "obj_list_rh": [
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+        ]
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+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "place_asbestos_mesh",
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+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
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+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "uncap_alcohol_lamp",
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+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((8885, 9073), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0200@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (9017, 9585))": {
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+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((9541, 9794), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0200@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((9914, 10294), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((10446, 10770), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((11915, 12227), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (12387, 12880))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (12920, 13000))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00001",
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001",
+            "O02@0206@00002"
+        ]
+    },
+    "((13957, 15534), (14465, 15590))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
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+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00023",
+            "O02@0015@00022"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00023"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00022",
+            "O02@0015@00023"
+        ]
+    },
+    "((17159, 17983), (17083, 17983))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0015@00023"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00023"
+        ]
+    },
+    "((18180, 19128), (18071, 19336))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0015@00023",
+            "O02@0015@00022"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0011@00003",
+            "O02@0015@00023"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00022",
+            "O02@0015@00023"
+        ]
+    },
+    "((19637, 20009), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((20153, 21354), (19973, 21382))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (21382, 21630))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ddc822a7a2c7c02716b5ac28862ba34e02b6950
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16.json
@@ -0,0 +1,76 @@
+{
+    "((929, 1495), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1495, 2152), (1495, 2152))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2512, 2968))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2968, 4250))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4503, 5191))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__41d8394b4defeec0ad76__2023-04-20-16-41-15.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__41d8394b4defeec0ad76__2023-04-20-16-41-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea8dda10a51665925059ea2e3358ed2f42369c9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__41d8394b4defeec0ad76__2023-04-20-16-41-15.json
@@ -0,0 +1,138 @@
+{
+    "(None, (728, 1044))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (1156, 1712))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((2557, 2865), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (4210, 4963))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((4742, 4907), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((4907, 5743), (5139, 6180))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
+        "primitive_rh": "hold",
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+            "O02@0033@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5743, 6155), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((6328, 6552), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6552, 8037), (6184, 8037))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((8037, 8369), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..571b2acdf08f140978be828adafe01ff40f1e587
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__43581fd7e57e148306e4__2023-04-19-11-29-48.json
@@ -0,0 +1,76 @@
+{
+    "((664, 864), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((864, 2530), (1132, 2530))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2530, 2970), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_lh": "place_on_test_tube_rack",
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+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((3868, 4631), (3927, 4567))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..a79aa38590233b252c85765a5d92917dfecb9ce4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35.json
@@ -0,0 +1,70 @@
+{
+    "((974, 1334), None)": {
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+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1515, 2111), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
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+        "obj_list_rh": null
+    },
+    "((4609, 4889), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
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+        "primitive_rh": null,
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": null
+    },
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+        "obj_list": [
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+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((7239, 7643), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__606948d0c32e5f88cab5__2023-04-20-15-20-17.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__606948d0c32e5f88cab5__2023-04-20-15-20-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..f67fabf409445ec88cea4a2e0fe9fa20c171dea0
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__606948d0c32e5f88cab5__2023-04-20-15-20-17.json
@@ -0,0 +1,41 @@
+{
+    "((791, 1132), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1276, 1928), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3669, 4922))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__639d4665846c3affb1cc__2023-04-20-16-44-08.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__639d4665846c3affb1cc__2023-04-20-16-44-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..925b14c9f4f82b257edebdbe49e4db9f2a0e7668
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__639d4665846c3affb1cc__2023-04-20-16-44-08.json
@@ -0,0 +1,96 @@
+{
+    "(None, (651, 1020))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (1208, 1696))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((2329, 2921), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2793, 3397))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((5343, 5491), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5491, 7084), (4955, 7084))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((7084, 7460), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__71249a288dcbc7de02a5__2023-04-19-11-24-41.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__71249a288dcbc7de02a5__2023-04-19-11-24-41.json
new file mode 100644
index 0000000000000000000000000000000000000000..8690384d69f1d6ca644885beebf59829d52f662f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__71249a288dcbc7de02a5__2023-04-19-11-24-41.json
@@ -0,0 +1,86 @@
+{
+    "(None, (761, 1401))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((1157, 1401), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1401, 2034), (1401, 2034))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((2034, 2834), (2034, 2834))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((2834, 3146), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2834, 3531))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..efcb5803f52fa0215087d0932d2f1cfa46ac751c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51.json
@@ -0,0 +1,54 @@
+{
+    "((812, 1321), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1725, 2141))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2750, 3146), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3354, 4199), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0393e79fff118357bf27f684c48e5877e9a2b45
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05.json
@@ -0,0 +1,57 @@
+{
+    "((690, 938), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((938, 2603), (1198, 2427))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (2555, 3023))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (3023, 3356))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86dd830a8be4bc92262fdc38baf50689a45e329
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__824966397a38080ca844__2023-04-20-15-39-19.json
@@ -0,0 +1,102 @@
+{
+    "((687, 987), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
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+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2726, 3006), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3722, 4543))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4543, 5484))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((5708, 6256), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json
new file mode 100644
index 0000000000000000000000000000000000000000..edad1b2064bf6f96d4f9ef3dbfad5e045a5bd89a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__847bac7674f4586680bd__2023-04-19-11-41-52.json
@@ -0,0 +1,81 @@
+{
+    "((713, 877), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((877, 1522), (1025, 1522))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1522, 2026))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2026, 2454))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((2863, 3191), (2454, 3643))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4775d9bd8efb7392ac02c36c3204577e19b979b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__863d581916dab5aedf8d__2023-04-19-10-43-36.json
@@ -0,0 +1,44 @@
+{
+    "((793, 1306), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1306, 2783), (1306, 2783))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2783, 3175), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6912284f7861a0dceab1546df570a10b19d5423d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__8adcc1379950452e8b43__2023-04-20-16-34-32.json
@@ -0,0 +1,163 @@
+{
+    "((723, 879), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((879, 1483), (999, 1483))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1483, 2028))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2028, 2800))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((2944, 3249), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2800, 3249))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((3249, 4778), (3249, 4778))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4778, 5590))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4778, 5286), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5286, 6159), None)": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((6159, 6595), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64eac9ca677b69c56c2f70770769c2e0656e703
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08.json
@@ -0,0 +1,73 @@
+{
+    "((827, 1075), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1075, 1863), (1075, 1527))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((1935, 2516), (1723, 2516))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2516, 2792), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3004, 3400))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..63306148ce9a9a19dccf954c243d996411f88a9d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__904b258c24a569104cfd__2023-04-20-16-22-20.json
@@ -0,0 +1,125 @@
+{
+    "((731, 991), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((991, 1435), (991, 1944))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1435, 1691), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2076, 2212))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (2212, 3008))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (3008, 3253))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((3581, 3701), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3701, 5510), (3417, 5886))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5510, 5722), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1ffaabc99a058fa77d060d0b12de44b0c7dcd20
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13.json
@@ -0,0 +1,44 @@
+{
+    "(None, (784, 912))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((672, 1941), (912, 1577))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (1577, 1873))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ef79dadf32e907ff038ed57cfc79999ed3b2dd
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20.json
@@ -0,0 +1,41 @@
+{
+    "(None, (775, 959))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (959, 1347))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (1347, 1748))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdc61c953bf12b51a72e54c06634ee1f00961c6c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57.json
@@ -0,0 +1,93 @@
+{
+    "((705, 949), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1085, 1325), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1489, 2210))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2326, 2742), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2934, 3202))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5060, 5420), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5532, 6145), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..c533252a195100a938c3d7a550f30622973fde49
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01.json
@@ -0,0 +1,99 @@
+{
+    "(None, (694, 1407))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((1195, 1407), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1407, 2388), (1407, 2388))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2388, 3012), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2388, 3012))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3012, 3753), (3012, 3692))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3753, 4025), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..389ad6de1a585576a7742540b9e92707e963338c
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a41a34ed89fef1760486__2023-04-20-15-42-09.json
@@ -0,0 +1,15 @@
+{
+    "((742, 1278), None)": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..5271918f04480ddad94b92961bd9ef8639df78c4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18.json
@@ -0,0 +1,86 @@
+{
+    "((820, 1232), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1232, 1852), (1232, 1852))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((3506, 3697), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3697, 4855), (3045, 4811))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((4855, 5499), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5499, 5883), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..d084b1ba2c3f3a8f59078463c22e5822ecd1a5e8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ab61c6cc82144a234089__2023-04-19-11-38-56.json
@@ -0,0 +1,109 @@
+{
+    "((666, 882), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (854, 1370))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((1514, 1730), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1730, 2535), (1374, 2535))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (2535, 2887))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((2535, 2887), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2887, 3540), None)": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3540, 3904), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..56901fd940cd14a38a59a31ec7a92b73f8292aa3
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48.json
@@ -0,0 +1,60 @@
+{
+    "(None, (844, 1901))": {
+        "primitive": "remove_test_tube_from_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_test_tube_from_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1901, 2745))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2745, 3758))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4058, 4703))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee99252b231092be15e9a903edad2bcdc8f3204
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__b379133add535ba8d4a3__2023-04-20-15-45-42.json
@@ -0,0 +1,41 @@
+{
+    "((697, 1149), None)": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1459, 2111), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((2331, 2763), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json
new file mode 100644
index 0000000000000000000000000000000000000000..1709a920be0046b359ec51270a53784ecb50e02d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__b4d4456ced6f3803440c__2023-04-19-11-32-19.json
@@ -0,0 +1,83 @@
+{
+    "(None, (715, 867))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (867, 1588))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (1588, 1928))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((2212, 2404), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2404, 3890), (2553, 3753))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (3854, 4242))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee4c5aed4f39b65395da0a025bbea60a480c57f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31.json
@@ -0,0 +1,108 @@
+{
+    "((693, 892), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((892, 2806), (1084, 2806))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2806, 2950), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2950, 3626), (2950, 3626))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3626, 4334))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4334, 4647), (4334, 4647))": {
+        "primitive": "remove_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "remove_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((4647, 5080), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d3947e88a649cd4e89ac880d089f5879ce83e5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__bbefcdd1829a20da8690__2023-04-20-16-46-22.json
@@ -0,0 +1,106 @@
+{
+    "(None, (617, 1073))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (1293, 1709))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((2562, 3070), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2994, 3539))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (5028, 5924))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5604, 5704), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5704, 6789), None)": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((6789, 7089), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e75e6d4235e8712a33a58d694403b8c5453e553
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__be6fa80f2e90344ced79__2023-04-20-16-14-13.json
@@ -0,0 +1,125 @@
+{
+    "(None, (820, 1032))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (1032, 1584))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((1312, 1584), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1584, 2149), (1584, 2149))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((2149, 2793), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2153, 2793))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((2793, 3430), (2793, 3430))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00002",
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "((3430, 3906), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3430, 4266))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be1ef9344b6669fe25856d913a2a36a56bcb3be
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__c56852334cd7ee5ec868__2023-04-21-09-37-08.json
@@ -0,0 +1,222 @@
+{
+    "((1199, 2797), (791, 2776))": {
+        "primitive": "unscrew",
+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "unscrew",
+        "obj_list_lh": [
+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
+        ]
+    },
+    "((2797, 5450), (3004, 5450))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (5450, 6279))": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "hold",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5618, 5910), None)": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_asbestos_mesh",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0205@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6039, 6375), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (6443, 7359))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((7480, 7796), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (7480, 8172))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((8376, 8468), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((8468, 10574), None)": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((10574, 10910), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((11486, 11799), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((11931, 12415), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (13504, 14040))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00002"
+        ]
+    },
+    "((14104, 15285), (14164, 15081))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((16199, 17212), (16484, 17196))": {
+        "primitive": "screw",
+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
+        "obj_list_lh": [
+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3f0752792c1681d5d667d024395e893285bcdf
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02.json
@@ -0,0 +1,34 @@
+{
+    "((663, 943), (659, 899))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((943, 1744), (987, 1695))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json
new file mode 100644
index 0000000000000000000000000000000000000000..16d103e287c5a3f5342139d29daee4f222289f04
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32.json
@@ -0,0 +1,44 @@
+{
+    "(None, (746, 858))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((1067, 1743), (858, 1499))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (1499, 1675))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edaa27aa5be99d3c90b0ef4e6bba2710ef5a402
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45.json
@@ -0,0 +1,106 @@
+{
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+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1229, 1670), None)": {
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+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1642, 2454))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2654, 3031), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3415, 3783))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((4251, 4335), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
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+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "stir_experiment_substances",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5416, 5797), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..509decb8647b23969be983f36ce99443b06c3f85
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05.json
@@ -0,0 +1,86 @@
+{
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+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((1052, 1548), (1052, 1460))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((1548, 2457), (1636, 2357))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2457, 2841), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2557, 2865))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (3061, 3474))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..8228b1e8a67412ed45c4ed99c153ac935cd4c06e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__cffb94f7d9de086d3604__2023-04-20-15-33-14.json
@@ -0,0 +1,70 @@
+{
+    "(None, (900, 2589))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((2993, 3273), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3273, 5071), (3570, 5051))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((5071, 5715), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5715, 6155), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
new file mode 100644
index 0000000000000000000000000000000000000000..300eb906f1bbe94d2756c3f33517d46758c3ee2b
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39.json
@@ -0,0 +1,238 @@
+{
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+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
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+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
+        ]
+    },
+    "((2786, 3863), (2678, 3871))": {
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+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0015@00026"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": [
+            "O02@0015@00026"
+        ]
+    },
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+        "obj_list": [
+            "O02@0015@00026",
+            "O02@0015@00025"
+        ],
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+        "primitive_lh": "hold",
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+            "O02@0015@00026"
+        ],
+        "obj_list_rh": [
+            "O02@0015@00025"
+        ]
+    },
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+            "O02@0015@00023",
+            "O02@0015@00022"
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+        ],
+        "obj_list_rh": [
+            "O02@0015@00022"
+        ]
+    },
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+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0015@00023"
+        ],
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+        "primitive_lh": "hold",
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+        ],
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+    },
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+        "obj_list": [
+            "O02@0015@00022",
+            "O02@0015@00023"
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+        "primitive_lh": "hold",
+        "primitive_rh": "screw",
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+            "O02@0015@00022",
+            "O02@0015@00023"
+        ],
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+            "O02@0015@00023"
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+        "obj_list_lh": [
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+        ],
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+    },
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+    },
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+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
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+        ],
+        "obj_list_rh": [
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+        "obj_list": [
+            "O02@0011@00002",
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+        "primitive_lh": "hold",
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+            "O02@0033@00002"
+        ]
+    },
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+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
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+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((14102, 14895), (14102, 14895))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
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+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((14895, 15559), (14895, 15483))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0011@00002",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "pour_in_lab",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0011@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((15771, 16240), (15483, 16344))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (16344, 16608))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cddbc62d3f0252b6944264f0df6d0a3deed1a90
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27.json
@@ -0,0 +1,112 @@
+{
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+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (2831, 3148))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
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+        "primitive_rh": "rearrange",
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+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3344, 3532), None)": {
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+        "obj_list": [
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+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((3532, 4485), None)": {
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+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "lh_main",
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+        "obj_list_lh": [
+            "O02@0033@00002"
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+        "obj_list_rh": null
+    },
+    "((4485, 4829), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
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+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
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+        "obj_list_lh": [
+            "O02@0033@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((5033, 5365), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5365, 6634), (5365, 6634))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((6634, 7026), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f91b3ec130e271af2710f5b581d431c478a1910
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37.json
@@ -0,0 +1,115 @@
+{
+    "((1082, 1290), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1290, 1758), (649, 1758))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1758, 2443))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2443, 3211))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3355, 3904))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((5325, 5557), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((5557, 6221), None)": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "shake_lab_container",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((6221, 6594), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0af695e1ba45b3e4b7f6940ea89cc01f45395b5
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__e49f5ececafb957d3671__2023-04-19-11-03-53.json
@@ -0,0 +1,18 @@
+{
+    "((671, 1424), (647, 1400))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43.json
new file mode 100644
index 0000000000000000000000000000000000000000..395fe130859472e4ff521066edaa34c893f48f63
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43.json
@@ -0,0 +1,104 @@
+{
+    "((724, 1008), None)": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "uncap_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1256, 2106))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2471, 2859), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2859, 3447), (2859, 3447))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (3447, 4104))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4104, 4856))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (4856, 5869))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..51293f08119ff9bbe08b2a159e002ad4e27ebc63
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08.json
@@ -0,0 +1,28 @@
+{
+    "(None, (762, 1683))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((2187, 2983), None)": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "put_off_alcohol_lamp",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__fac912c78b870666a08a__2023-04-19-11-35-35.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__fac912c78b870666a08a__2023-04-19-11-35-35.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d231c3d53c5cbaa9a5bc3319f954b471a3ba7a
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__fac912c78b870666a08a__2023-04-19-11-35-35.json
@@ -0,0 +1,111 @@
+{
+    "(None, (791, 927))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((627, 1556), (927, 1656))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0011@00003",
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (1656, 1984))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "((2268, 2561), (2232, 2569))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0201@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "O02@0201@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0201@00001"
+        ]
+    },
+    "(None, (2685, 3213))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((2981, 3537), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (3297, 3437))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (3517, 3910))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64ee3d6b5d84adbc2dea7e062923033e74ef6c8
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A007++seq__ff220c4666f169c19334__2023-04-19-11-43-56.json
@@ -0,0 +1,93 @@
+{
+    "(None, (750, 1186))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "((1030, 1186), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1186, 1602), (1186, 1602))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (1602, 2163))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2163, 2719))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2719, 3548))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae64320f9b480ec540db7e5431e4f2e31cb0816e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__0920ef008fac6fefdd88__2023-04-23-11-23-08.json
@@ -0,0 +1,15 @@
+{
+    "(None, (449, 942))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1820743c91155f49f6855151631ce7e9abf23bc
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__122ba05c0cbf110ec037__2023-04-23-10-45-36.json
@@ -0,0 +1,44 @@
+{
+    "((565, 758), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((758, 2931), (1026, 2775))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((2931, 3483), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb4923713ac59c06c62a55cbd9bd66bcd59f82d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__3e29caad5ac0039856bf__2023-04-23-11-19-11.json
@@ -0,0 +1,44 @@
+{
+    "(None, (527, 1012))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((1136, 2060), (1136, 2012))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (2164, 3041))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff1108712c492fc2fef64e8565b8338afc63b14e
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50.json
@@ -0,0 +1,28 @@
+{
+    "(None, (628, 1593))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "(None, (1841, 2353))": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_beaker",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
new file mode 100644
index 0000000000000000000000000000000000000000..23224de08d676a6424bab0fa16ea7fe6f91a8a3d
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__667a8e2bc0c080980b80__2023-05-09-19-58-57.json
@@ -0,0 +1,174 @@
+{
+    "((1138, 1953), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (2513, 2673))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (2673, 4478))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (4478, 5663))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (6248, 7204))": {
+        "primitive": "place_asbestos_mesh",
+        "obj_list": [
+            "O02@0205@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_asbestos_mesh",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0205@00001"
+        ]
+    },
+    "((8974, 9506), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "((9506, 10627), (9882, 10627))": {
+        "primitive": "uncap_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00002",
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "uncap_alcohol_lamp",
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "((10627, 11760), None)": {
+        "primitive": "heat_beaker",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "heat_beaker",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (12204, 13749))": {
+        "primitive": "ignite_alcohol_lamp",
+        "obj_list": [
+            "O02@0200@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "ignite_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0200@00001"
+        ]
+    },
+    "((14714, 15642), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0206@00002"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (15814, 16871))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    },
+    "(None, (16991, 17444))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((17792, 18644), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0011@00003"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5482e4e967d548857fa320b1903eb206307d4a7
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__897d8d92079129f4dcda__2023-04-23-11-21-25.json
@@ -0,0 +1,15 @@
+{
+    "(None, (493, 1510))": {
+        "primitive": "put_off_alcohol_lamp",
+        "obj_list": [
+            "O02@0206@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "put_off_alcohol_lamp",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46c8000d066332c82303270a0c9ae784787e784
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46.json
@@ -0,0 +1,44 @@
+{
+    "((674, 950), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((950, 3724), (1266, 3536))": {
+        "primitive": "pour_in_lab",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "pour_in_lab",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "((3724, 4292), None)": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "place_on_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c5b455c1d9983c1b4b33467f01607f38c4b3a6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__c2f83e010631028090be__2023-04-23-10-48-01.json
@@ -0,0 +1,54 @@
+{
+    "(None, (528, 1028))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0011@00003"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0011@00003"
+        ]
+    },
+    "(None, (1288, 1493))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (1493, 2341))": {
+        "primitive": "stir_experiment_substances",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "stir_experiment_substances",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    },
+    "(None, (2341, 2749))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0033@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0033@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfee4400c40995bcb219de5fd0ddd0d0578ac187
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48.json
@@ -0,0 +1,76 @@
+{
+    "(None, (463, 859))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0206@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0206@00002"
+        ]
+    },
+    "((999, 1339), None)": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "remove_from_test_tube_rack",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((1339, 2160), (1339, 2160))": {
+        "primitive": "hold_test_tube",
+        "obj_list": [
+            "O02@0202@00001",
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "hold_test_tube",
+        "obj_list_lh": [
+            "O02@0202@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2160, 2708))": {
+        "primitive": "heat_test_tube",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "heat_test_tube",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    },
+    "(None, (2708, 4049))": {
+        "primitive": "place_test_tube_on_rack_with_holder",
+        "obj_list": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_test_tube_on_rack_with_holder",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0203@00001",
+            "O02@0203@00002"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json b/raw/oakinkv2/program/program_info/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json
new file mode 100644
index 0000000000000000000000000000000000000000..c614b3dbda44c314d9a6cf90d972a08b3dbb1030
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_03__A008++seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05.json
@@ -0,0 +1,41 @@
+{
+    "(None, (663, 883))": {
+        "primitive": "remove_from_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "remove_from_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (883, 1491))": {
+        "primitive": "shake_lab_container",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "shake_lab_container",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    },
+    "(None, (1491, 1960))": {
+        "primitive": "place_on_test_tube_rack",
+        "obj_list": [
+            "O02@0202@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_on_test_tube_rack",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0202@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json b/raw/oakinkv2/program/program_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09fcadfe6a7a027a0c2430075e05c5d2ccd5b11
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A001++seq__1b46da0a2670ac31842a__2023-04-27-19-50-59.json
@@ -0,0 +1,64 @@
+{
+    "((1007, 1877), (1347, 1877))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    },
+    "((1877, 2677), (2021, 2677))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "(None, (2677, 3210))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((2677, 4407), (3614, 4022))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json b/raw/oakinkv2/program/program_info/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7557bd02a16c26e32104487983fa434ea9f0ec41
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A001++seq__24d76506f00b476483ec__2023-04-27-19-49-01.json
@@ -0,0 +1,52 @@
+{
+    "((1195, 2324), (1799, 2324))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    },
+    "((2324, 4073), (2668, 3905))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((4073, 5490), (4073, 5070))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json b/raw/oakinkv2/program/program_info/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..198a641b843fc54a6f64e5fd7d3cacead19326d2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A001++seq__604ecac09194007a0d1b__2023-04-27-19-50-10.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1186, 1755))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json b/raw/oakinkv2/program/program_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
new file mode 100644
index 0000000000000000000000000000000000000000..4da2c0787470b743c520f50e2d6a14c0d3f7e0cb
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A004++seq__76fd939dff16583c7c6d__2023-04-26-18-58-48.json
@@ -0,0 +1,15 @@
+{
+    "(None, (848, 1465))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json b/raw/oakinkv2/program/program_info/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fa39f0e367deaac4fbe4a6dbbfd584f32a7e090
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A004++seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36.json
@@ -0,0 +1,15 @@
+{
+    "(None, (1053, 1489))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json b/raw/oakinkv2/program/program_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
new file mode 100644
index 0000000000000000000000000000000000000000..55016dc02c7c35f0f92f1ecb90d06ee7754af264
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A004++seq__eb95751017ecdcf1942d__2023-04-26-19-01-08.json
@@ -0,0 +1,76 @@
+{
+    "((1201, 1761), (837, 2021))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "flip_open_tooth_paste_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00005"
+        ]
+    },
+    "((1841, 1949), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0025@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((2021, 2986), (2021, 2986))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "squeeze_tooth_paste",
+        "obj_list_lh": [
+            "O02@0025@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00005"
+        ]
+    },
+    "((2986, 3346), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0025@00001"
+        ],
+        "obj_list_rh": null
+    },
+    "((3490, 3707), (2986, 3959))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "flip_close_tooth_paste_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json b/raw/oakinkv2/program/program_info/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json
new file mode 100644
index 0000000000000000000000000000000000000000..872d793769fbad00666d244955f36b24bd34e3a2
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A004++seq__f7817277459e9a992723__2023-04-26-18-57-36.json
@@ -0,0 +1,50 @@
+{
+    "((1223, 1555), (815, 1555))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "flip_open_tooth_paste_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00005"
+        ]
+    },
+    "((1691, 2880), (1555, 3008))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "squeeze_tooth_paste",
+        "obj_list_lh": [
+            "O02@0025@00001"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00005"
+        ]
+    },
+    "((3008, 3324), (3008, 3545))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "flip_close_tooth_paste_cap",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00004"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json b/raw/oakinkv2/program/program_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1961cc9abb4919ddeca389a133bcf4319205db4
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A005++seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13.json
@@ -0,0 +1,89 @@
+{
+    "((803, 1244), None)": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": null
+    },
+    "(None, (1520, 1905))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "S10020"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "S10020"
+        ]
+    },
+    "((2053, 2746), (2229, 2746))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    },
+    "((2746, 3498), (2938, 3498))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "(None, (3498, 3770))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((3498, 4435), (3919, 4207))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json b/raw/oakinkv2/program/program_info/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9c99bdf0cef744c9f9094adf319303d6bc7d97
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A005++seq__8371a637b35c6a90c30d__2023-04-20-11-05-13.json
@@ -0,0 +1,52 @@
+{
+    "((853, 1722), (1213, 1722))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    },
+    "((1722, 2943), (1950, 2854))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((2943, 3759), (2943, 3371))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json b/raw/oakinkv2/program/program_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
new file mode 100644
index 0000000000000000000000000000000000000000..276d86972569a1fdf2350bacf3714ef9e7d94483
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A005++seq__a669eeccd80db095295d__2023-04-20-11-11-18.json
@@ -0,0 +1,15 @@
+{
+    "(None, (546, 1255))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "place_inside",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json b/raw/oakinkv2/program/program_info/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0521cc5ccbd312d638fa862634dfecf48e8367
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A005++seq__c80df7bc6d12b566098a__2023-04-20-11-10-33.json
@@ -0,0 +1,15 @@
+{
+    "(None, (946, 1571))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json b/raw/oakinkv2/program/program_info/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9c9c169b32a987841835cf2d40db8ba574458f6
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A005++seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09.json
@@ -0,0 +1,50 @@
+{
+    "((704, 1481), (1236, 1481))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    },
+    "((1481, 2653), (1625, 2533))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((2653, 3210), (2653, 2797))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json b/raw/oakinkv2/program/program_info/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..05bf8c1b34d881804b3757f3e97bd7a28341c57f
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A007++seq__34a4767e23bc531475c4__2023-04-19-10-34-34.json
@@ -0,0 +1,18 @@
+{
+    "((802, 2007), (1470, 1995))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "S10020",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "bh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "rearrange",
+        "obj_list_lh": [
+            "S10020"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json b/raw/oakinkv2/program/program_info/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ceef8db96fc8f4f3c54db5dffbc7083f2882b9
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A007++seq__3841334c17e591cb9968__2023-04-19-10-32-34.json
@@ -0,0 +1,52 @@
+{
+    "((717, 1394), (757, 1394))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    },
+    "((1394, 2475), (1550, 2351))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((2475, 3111), (2475, 3099))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json b/raw/oakinkv2/program/program_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ebe36ef2525aae9c10488c071ba17d30b57ba54
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A007++seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51.json
@@ -0,0 +1,18 @@
+{
+    "((722, 1552), (1064, 1552))": {
+        "primitive": "place_inside",
+        "obj_list": [
+            "S10020",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "rearrange",
+        "primitive_rh": "place_inside",
+        "obj_list_lh": [
+            "S10020"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json b/raw/oakinkv2/program/program_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb05802a6851c02bd44543fd601818593200cd66
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A007++seq__ca28822445da7795e0c4__2023-04-20-15-25-20.json
@@ -0,0 +1,77 @@
+{
+    "((827, 1757), (1064, 1757))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    },
+    "((1757, 2390), (1921, 2390))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "(None, (2390, 2722))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((2442, 2780), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": null
+    },
+    "((2780, 3330), (2838, 3354))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0003@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json b/raw/oakinkv2/program/program_info/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b23f87cc04fe12dd983bf44c2c01f98dca6eb0
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A008++seq__547675de3c1d37a85a09__2023-04-23-11-27-15.json
@@ -0,0 +1,51 @@
+{
+    "((397, 1098), (573, 1098))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    },
+    "((1098, 2471), (1258, 2375))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((2471, 3263), (2471, 2911))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0003@00004"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json b/raw/oakinkv2/program/program_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8b979048cbea9b38a785385c9df6a4e9292f10
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A008++seq__f93352845016c27d0fdc__2023-05-09-19-52-25.json
@@ -0,0 +1,77 @@
+{
+    "((999, 1912), (1447, 1912))": {
+        "primitive": "flip_open_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_open_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004"
+        ]
+    },
+    "((1912, 3437), (2288, 3437))": {
+        "primitive": "squeeze_tooth_paste",
+        "obj_list": [
+            "O02@0003@00005",
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "squeeze_tooth_paste",
+        "primitive_rh": "hold",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "(None, (3437, 4205))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    },
+    "((3437, 4558), None)": {
+        "primitive": "hold",
+        "obj_list": [
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "lh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": null,
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": null
+    },
+    "((4558, 5538), (4558, 5090))": {
+        "primitive": "flip_close_tooth_paste_cap",
+        "obj_list": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": "hold",
+        "primitive_rh": "flip_close_tooth_paste_cap",
+        "obj_list_lh": [
+            "O02@0003@00005"
+        ],
+        "obj_list_rh": [
+            "O02@0003@00004",
+            "O02@0003@00005"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/program_info/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json b/raw/oakinkv2/program/program_info/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9424d50bb93ff5f571eec848778a5c4d2af761
--- /dev/null
+++ b/raw/oakinkv2/program/program_info/scene_04__A008++seq__ff070467cd91f735acab__2023-04-23-11-28-29.json
@@ -0,0 +1,15 @@
+{
+    "(None, (547, 1035))": {
+        "primitive": "rearrange",
+        "obj_list": [
+            "O02@0025@00001"
+        ],
+        "interaction_mode": "rh_main",
+        "primitive_lh": null,
+        "primitive_rh": "rearrange",
+        "obj_list_lh": null,
+        "obj_list_rh": [
+            "O02@0025@00001"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/raw/oakinkv2/program/task_target.json b/raw/oakinkv2/program/task_target.json
new file mode 100644
index 0000000000000000000000000000000000000000..cddb2a1a0f6ebf25d8b0c63f6e6137f3102f66fd
--- /dev/null
+++ b/raw/oakinkv2/program/task_target.json
@@ -0,0 +1,629 @@
+{
+    "scene_01__A001/seq__9e46184387ba83f60895__2023-04-27-18-43-58": "Cap the bottle.",
+    "scene_01__A001/seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19": "Scoop honey and pour juice into the bowl.",
+    "scene_01__A001/seq__5ad66440a8b11dd306f3__2023-04-27-19-41-45": "Scoop drinks and grip ice cubes into the bowl.",
+    "scene_01__A001/seq__178ef1f9fed87514a792__2023-04-27-20-10-13": "Scoop the detergent into the dish and wipe the dish with sponge.",
+    "scene_01__A001/seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-39": "Scoop some sauce into the dish and spread it with the spoon.",
+    "scene_01__A001/seq__9588d8284630e2f14b82__2023-04-27-20-17-40": "Pour juice into the bowl and stir it with the rod.",
+    "scene_01__A001/seq__7653ff4f86a8707fe7f3__2023-04-27-20-22-16": "Grip sugar cubes into the bowl and pour juice into the bowl.",
+    "scene_01__A001/seq__c3e9947ed401e54181b6__2023-04-27-20-27-08": "Scoop and scrape something into the plate.",
+    "scene_01__A001/seq__ad92412aedb8d5b1086e__2023-04-27-20-34-16": "Pour something into the bowl and place the tablewares in place.",
+    "scene_01__A001/seq__0b3d183d6b2e90eefd66__2023-04-27-20-38-16": "Weigh something with scale by pouring it into the bowl.",
+    "scene_01__A001/seq__8420fa617d0a08081df3__2023-04-27-20-42-15": "Pour and scrape something into the plate.",
+    "scene_01__A001/seq__07bb164dc3d3873d6389__2023-04-27-20-45-29": "Grip something into the plate and place tablewares in place.",
+    "scene_01__A001/seq__99369773ed8032d1e35d__2023-04-27-20-48-38": "Weigh something with scale by gripping into the plate.",
+    "scene_01__A001/seq__775836c590d688b5c072__2023-04-27-20-52-16": "Grip something out of the plate and wipe the plate with the sponge.",
+    "scene_01__A001/seq__235ac519d522ceb4c947__2023-04-27-20-30-50": "Pour something into the plate and grip something out of the plate.",
+    "scene_01__A001/seq__9fc3e1eebc966cbcc06b__2023-04-27-19-21-02": "Cut the apple.",
+    "scene_01__A001/seq__6e11d637b13834d44e77__2023-04-27-19-22-25": "Cut the apple.",
+    "scene_01__A001/seq__e3cf9b2340d538131f4e__2023-04-27-19-23-39": "Cut the pear.",
+    "scene_01__A001/seq__083f7a577484ba7929a9__2023-04-27-19-25-24": "Cut the bread.",
+    "scene_01__A001/seq__49793d417b05076e1269__2023-04-27-19-28-42": "Spread the jam on the bread.",
+    "scene_01__A001/seq__6bf65e89563a90b0221c__2023-04-27-19-00-03": "Place tablewares in place.",
+    "scene_01__A001/seq__9decc2b1d56c0e6351a8__2023-04-27-18-48-27": "Pour something into the bowl.",
+    "scene_01__A001/seq__8f9cb9a5390c68313c94__2023-04-27-18-50-13": "Grip something from the plate into the bowl.",
+    "scene_01__A001/seq__9773da991b29c749de35__2023-04-27-18-46-10": "Scoop something from the bottle into the bowl.",
+    "scene_01__A001/seq__72f05957822d98d4059a__2023-04-27-18-39-01": "Screw the bottle.",
+    "scene_01__A001/seq__e3d8f143b82830e0ea0a__2023-04-27-18-41-53": "Screw the bottle.",
+    "scene_01__A001/seq__c635c44e3da5012988e8__2023-04-27-18-55-00": "Assemble the donut onto the bread.",
+    "scene_01__A001/seq__10d0483b6c4f29fefe48__2023-04-27-18-52-19": "Stir in the mug with the rod.",
+    "scene_01__A001/seq__ceefa2162ca2e9612ecb__2023-04-27-19-11-22": "Scrape something from the plate into the mug.",
+    "scene_01__A001/seq__d2192b41c9cddfd3f632__2023-04-27-18-43-22": "Uncap the bottle.",
+    "scene_01__A001/seq__7b59fe2ad75bfac282b2__2023-04-27-18-37-44": "Unscrew the bottle.",
+    "scene_01__A001/seq__4c966751912ef4687b87__2023-04-27-18-41-04": "Unscrew the bottle.",
+    "scene_01__A001/seq__ac79435402cf22f24550__2023-04-27-19-32-20": "Heat the bread with microwave oven.",
+    "scene_01__A001/seq__6c1ba97ea5706da1a997__2023-04-27-19-18-25": "Weigh the donut with scale.",
+    "scene_01__A001/seq__7b8bfa2d60ad55249cd8__2023-04-27-19-13-45": "Wipe the plate.",
+    "scene_01__A001/seq__62681ca151e80e850ded__2023-04-27-19-15-13": "Wipe the fryingpan.",
+    "scene_01__A003/seq__49a8305e104d29e3816a__2023-04-15-09-41-56": "Cap the bottle.",
+    "scene_01__A003/seq__7a35f28a2158edf5c083__2023-04-15-10-50-06": "Close microwave oven door.",
+    "scene_01__A003/seq__7c8015df8645965d920d__2023-04-21-21-05-08": "Clean the kitchen table.",
+    "scene_01__A003/seq__3ae08d6cbcd1458a57fc__2023-04-15-11-18-20": "Prepare a cup of hot sweet drink.",
+    "scene_01__A003/seq__27c72072f6a2929fb1fd__2023-04-15-10-58-45": "Prepare a bowl of hot soup with salt.",
+    "scene_01__A003/seq__e76b290b0440c2db3e27__2023-04-15-11-27-51": "Prepare a bowl of hot sweet fruit tea.",
+    "scene_01__A003/seq__3bf15f40d9cd6c9f8b5c__2023-04-21-19-02-57": "Prepare a chilled apple platter.",
+    "scene_01__A003/seq__0b3a0a3dba029a07ad90__2023-04-21-19-16-37": "Prepare a savory fruit salad.",
+    "scene_01__A003/seq__9f436c64de60cdc5d3b6__2023-04-21-19-23-21": "Prepare a baked donut with sauce.",
+    "scene_01__A003/seq__01857017aef944761b78__2023-04-21-19-28-11": "Prepare a baked donut with apple slices and jam.",
+    "scene_01__A003/seq__f4587e673c3df708d53a__2023-04-21-19-33-26": "Prepare a savory baked donut.",
+    "scene_01__A003/seq__c3c3d8199ae38a3716ed__2023-04-21-19-37-57": "Prepare a savory baked donut.",
+    "scene_01__A003/seq__a7a1a0cf7d90a9083013__2023-04-21-20-13-04": "Prepare a cheese-baked donut with tomato sauce.",
+    "scene_01__A003/seq__5a5d66e7a358b59c9fee__2023-04-21-20-23-45": "Prepare savory baked apple slices with cheese.",
+    "scene_01__A003/seq__5f9751f660a51045d22c__2023-04-21-19-08-07": "Prepare a chilled fruit platter.",
+    "scene_01__A003/seq__31218648456a55218293__2023-04-15-11-06-48": "Make a baked sandwich with a filling of donut and salt.",
+    "scene_01__A003/seq__263ad4d9bbcceec34ac5__2023-04-15-11-11-40": "Make a baked sandwich with a filling of donut and salt.",
+    "scene_01__A003/seq__920f6ba03fbe28cd4d64__2023-04-21-20-34-37": "Make a sandwich with a filling of tomato sauce and sugar.",
+    "scene_01__A003/seq__590d0923c75785cbfb33__2023-04-21-20-39-42": "Make a sandwich with a filling of apple slices and donut, adding tomato sauce, mustard sauce, salt, and sugar.",
+    "scene_01__A003/seq__d05b4bb16d00b45e48d9__2023-04-21-20-49-34": "Make a baked sandwich with a filling of cheese and donut, adding tomato sauce.",
+    "scene_01__A003/seq__7cc685df14ba8096034f__2023-04-16-09-37-10": "Scoop something into the plate and pour something from the secured bottle into the plate.",
+    "scene_01__A003/seq__5fef04b7c444d30af102__2023-04-16-09-41-41": "Grip and scoop something into the plate.",
+    "scene_01__A003/seq__19c9ac415d6e7db1776f__2023-04-16-09-46-46": "Scoop something into the bowl and stir it to mix up.",
+    "scene_01__A003/seq__b20638758c37e9f0301c__2023-04-16-09-51-09": "Scoop something into the bowl and place the tablewares.",
+    "scene_01__A003/seq__537f3c2c80b34e0903d5__2023-04-16-09-55-43": "Scoop something into the bowl and scrape it out of the bowl.",
+    "scene_01__A003/seq__c992d1f58dbad7366f42__2023-04-16-10-00-22": "Scoop something out of the bowl and wipe the bowl with the sponge.",
+    "scene_01__A003/seq__fc1e5d0a0139e1b55421__2023-04-16-10-03-34": "Scoop something into the bowl and pour water from the teapot to dissolve it.",
+    "scene_01__A003/seq__380c72ff8a934cdb1877__2023-04-16-10-10-19": "Weigh something with scale by scooping it into the plate.",
+    "scene_01__A003/seq__11da49b9d19c55c9d954__2023-04-16-10-14-38": "Cut the apple and scoop seasonings on it.",
+    "scene_01__A003/seq__c9cd3eec4e02a742c104__2023-04-16-10-18-51": "Scoop seasonings onto the bread and spread it with the spoon.",
+    "scene_01__A003/seq__2966d387c888ecca94d1__2023-04-16-10-23-13": "Pour and grip something into the plate.",
+    "scene_01__A003/seq__72bb97aefd7eff0c878f__2023-04-16-10-40-36": "Pour something into the mug and stir it with the rod.",
+    "scene_01__A003/seq__d7c333b80728391e47c7__2023-04-16-10-44-48": "Pour something into the bowl and rearrange the spoon to its position.",
+    "scene_01__A003/seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51": "Pour something out of the frying pan and rearrange the spoon in place.",
+    "scene_01__A003/seq__c43758330dcc6637f14c__2023-04-16-10-49-51": "Pour something into the bowl and scrape the mixture out of the bowl.",
+    "scene_01__A003/seq__916da2456e9042c18107__2023-04-16-10-53-20": "Pour something out of the fryingpan and wipe the fryingpan with the sponge.",
+    "scene_01__A003/seq__83207950cb49bb1c3aca__2023-04-16-10-57-12": "Weigh something with scale by pouring it into the mug.",
+    "scene_01__A003/seq__ebf4620c54f1ee2c0e8b__2023-04-16-11-01-15": "Cut the pear and pour the seasoning into the fryingpan to flavor the pear slices.",
+    "scene_01__A003/seq__82d76ed7d2fdb1c5b909__2023-04-16-11-05-26": "Pour seasonings onto the bread and spread it with the spoon.",
+    "scene_01__A003/seq__d5cfcf3a1d88ba7b6c48__2023-04-16-11-10-55": "Grip sugar cubes into the bowl and stir in the bowl to mix up.",
+    "scene_01__A003/seq__b6c549bece834a0bff0e__2023-04-16-11-14-04": "Grip sugar cubes into the bowl and place the tablewares.",
+    "scene_01__A003/seq__0a5ecad7fcf381a6d0a7__2023-04-16-11-15-40": "Grip sugar cubes into the bowl and place tablewares.",
+    "scene_01__A003/seq__a068789362978fe97452__2023-04-16-11-18-43": "Grip sugar cubes into the bowl and scrape the mixture into the plate.",
+    "scene_01__A003/seq__35fb7760f51e79a8a573__2023-04-16-11-22-39": "Grip something out of the fryingpan and wipe the fryingpan with the sponge.",
+    "scene_01__A003/seq__74204866e2c7e3308258__2023-04-16-11-26-40": "Weigh something with scale by gripping it into the bowl.",
+    "scene_01__A003/seq__b14940e02d707632ae06__2023-04-16-11-29-49": "Cut the pear and grip seasonings into the plate to flavor it.",
+    "scene_01__A003/seq__199d780fa0a48fa7f41e__2023-04-16-11-34-09": "Grip seasonings onto the bread and spread it with the knife.",
+    "scene_01__A003/seq__9ace5e2df7edd544061f__2023-04-16-11-39-02": "Stir to mix things up in the bowl and place tablewares.",
+    "scene_01__A003/seq__038653a60635afa73438__2023-04-16-11-43-28": "Stir to mix things up and scrape the mixture into the mug.",
+    "scene_01__A003/seq__5d8f5811e7d146de5fd3__2023-04-16-11-47-54": "Scrape something into the plate and place tablewares.",
+    "scene_01__A003/seq__e9343c38e6f388976d31__2023-04-18-09-25-33": "Weigh something with scale by pouring it into the plate.",
+    "scene_01__A003/seq__9b00499d20173000984b__2023-04-18-09-29-31": "Weigh something with scale by gripping it into the plate.",
+    "scene_01__A003/seq__c85fb5a67560826f32ad__2023-04-18-09-32-52": "Weigh something with scale and then weigh the assembled product.",
+    "scene_01__A003/seq__bd3b9b38d0adc9e64aab__2023-04-18-09-36-13": "Unscrew the bottle and pour from it.",
+    "scene_01__A003/seq__f014ae4652ff85b0cc63__2023-04-18-09-37-46": "Pour from the bottle and screw it for secure storage.",
+    "scene_01__A003/seq__9bfe9ffd274348acb1af__2023-04-18-09-40-59": "Uncap the bottle and scrape something out of it.",
+    "scene_01__A003/seq__1a04a2726d91f0687d98__2023-04-18-09-42-40": "Scrape something out of the bottle and cap it for secure storage.",
+    "scene_01__A003/seq__cf6a1b8be3e5bada2b23__2023-04-18-09-44-44": "Scrap from a capped bottle.",
+    "scene_01__A003/seq__2f774a18a128dafb628a__2023-04-18-09-48-37": "Spread the seasonings on the bread and assemble the donut onto the bread.",
+    "scene_01__A003/seq__073013b056465055373f__2023-04-18-09-53-09": "Assemble the donut onto the bread and place tablewares.",
+    "scene_01__A003/seq__cb8f2081449618592d27__2023-04-18-09-58-25": "Unscrew the bottle and heat with microwave oven.",
+    "scene_01__A003/seq__de088ef0fd274c39348d__2023-04-18-10-11-07": "Pour into the powl and heat with microwave oven.",
+    "scene_01__A003/seq__b9bb2ec70e3ea2a4b073__2023-04-18-10-15-50": "Heat with the microwave oven and pour the heated content into the plate.",
+    "scene_01__A003/seq__5870f0b18ac47c03e8af__2023-04-18-10-18-26": "Heat with microwave oven and pour the heated content into the plate.",
+    "scene_01__A003/seq__05d45aca8ef08285afa5__2023-04-18-10-22-08": "Heat with microwave oven and pour the heated content into the bowl.",
+    "scene_01__A003/seq__99f9da6e0d665dd15f01__2023-04-18-10-28-47": "Heat with microwave oven and stir the heated content to mix up.",
+    "scene_01__A003/seq__888432237275999c9f7d__2023-04-18-10-32-34": "Heat the bread with microwave oven and assemble the donut onto it.",
+    "scene_01__A003/seq__ea24dfc157269667cf93__2023-04-18-10-38-42": "Cut the bread and heat it with microwave oven.",
+    "scene_01__A003/seq__4664f66e0c783b858b10__2023-04-15-10-35-58": "Cut the apple.",
+    "scene_01__A003/seq__a5de2b93822f3b229140__2023-04-15-10-41-00": "Cut the pear.",
+    "scene_01__A003/seq__d78faa92219c617ea9b4__2023-04-15-10-48-45": "Open microwave oven door.",
+    "scene_01__A003/seq__15c29df1995fa2ed3ea5__2023-04-16-09-31-02": "Spread something on the bread with the knife.",
+    "scene_01__A003/seq__4f2588329dcddda52337__2023-04-16-09-32-34": "Spread something on the bread with the spoon.",
+    "scene_01__A003/seq__9b728ad5953bf2f06798__2023-04-16-09-33-47": "Spread something on the bread with the spoon.",
+    "scene_01__A003/seq__783bd4550274783193c3__2023-04-15-09-58-39": "Place tablewares.",
+    "scene_01__A003/seq__9d4bff431d87a704ec42__2023-04-15-09-28-44": "Pour something out of the mug.",
+    "scene_01__A003/seq__d4ddf93a38e3228cdd3a__2023-04-15-10-15-10": "Pour something into the capped teapot from top.",
+    "scene_01__A003/seq__bcb3669c252c757e5d9d__2023-04-15-10-18-41": "Pour something from the teapot to the cup.",
+    "scene_01__A003/seq__24cffaeaadf8a022f376__2023-04-23-18-50-27": "Prepare a cup of chilled green tea.",
+    "scene_01__A003/seq__ce2f09a1ccbe225a69aa__2023-04-23-19-08-48": "Prepare a cup of apple green tea.",
+    "scene_01__A003/seq__75b9437202d7c3b7dbc1__2023-04-23-19-16-34": "Prepare a cup of mixed flavor fruit juice.",
+    "scene_01__A003/seq__925aa236cf6d91566f4e__2023-04-23-19-39-35": "Prepare a cup of savory fruit juice milk tea.",
+    "scene_01__A003/seq__c1b07c891f60797049c3__2023-04-23-20-01-46": "Prepare a cup of pear milk tea with fruit jam.",
+    "scene_01__A003/seq__86e2ac0670ffe6e031b8__2023-04-23-20-08-58": "Prepare a cup of savory honey fruit juice milk tea.",
+    "scene_01__A003/seq__1eccd6dfd6b93888e9d1__2023-04-23-20-27-53": "Prepare a cup of savory strawberry orange juice mixed with milk.",
+    "scene_01__A003/seq__716692d2a096271f0219__2023-04-15-09-50-17": "Grip something into the mug.",
+    "scene_01__A003/seq__a52a4e4617bd88a5a8ae__2023-04-15-09-25-40": "Scoop something out of the bowl.",
+    "scene_01__A003/seq__f447ca25c7bb0e21616a__2023-04-15-09-35-55": "Screw the bottle.",
+    "scene_01__A003/seq__fe346e4fc4e0cab776de__2023-04-15-09-37-24": "Screw the bottle.",
+    "scene_01__A003/seq__ab9750a9667f80a27e93__2023-04-15-10-43-33": "Assemble into a sandwich.",
+    "scene_01__A003/seq__765b120e4a0c126f2a05__2023-04-15-09-53-34": "Stir in the mug with the rod.",
+    "scene_01__A003/seq__9fbf67eb51ecca5dda1a__2023-04-15-09-55-11": "Stir in the mug with the spoon.",
+    "scene_01__A003/seq__894b2fdab230f1a2506b__2023-04-15-09-39-22": "Uncap the bottle.",
+    "scene_01__A003/seq__5da24047ae42adea82f3__2023-04-15-09-40-46": "Uncap the bottle.",
+    "scene_01__A003/seq__edd68d081ccd9db4d1bd__2023-04-15-09-31-49": "Unscrew the bottle.",
+    "scene_01__A003/seq__87b7e399b0795bc70a00__2023-04-15-09-33-40": "Unscrew the bottle.",
+    "scene_01__A003/seq__5184469e3a4623496dd4__2023-04-15-10-51-48": "Heat with microwave oven.",
+    "scene_01__A003/seq__f3fe28de4f8d44ca2680__2023-04-15-10-02-53": "Weigh something with scale by scooping it into the plate.",
+    "scene_01__A003/seq__402490af21c1e522967a__2023-04-15-10-05-56": "Weigh something with scale by gripping it into the mug.",
+    "scene_01__A003/seq__43deae0c0feb3fb65d80__2023-04-15-10-09-27": "Wipe the fryingpan.",
+    "scene_01__A003/seq__22db0324e00df1d6d725__2023-04-15-10-10-58": "Wipe the plate.",
+    "scene_01__A004/seq__7f874047e7455e81d42d__2023-04-28-18-41-29": "Cap the bottle.",
+    "scene_01__A004/seq__4b8138c463637dc9543d__2023-04-28-19-43-57": "Uncap the bottle and scoop something out of it.",
+    "scene_01__A004/seq__f4786e64ba8f8a092976__2023-04-28-19-47-32": "Scoop the detergent into the plate and wipe it with the sponge.",
+    "scene_01__A004/seq__5421609ff372f909cd69__2023-04-28-19-24-25": "Cut the apple.",
+    "scene_01__A004/seq__69606b9b2cbf43fbeffc__2023-04-28-19-25-26": "Cut the pear.",
+    "scene_01__A004/seq__b01ecbd7533936b533ef__2023-04-28-19-27-08": "Cut the bread.",
+    "scene_01__A004/seq__5bb1fb16345048b54d15__2023-04-28-18-55-13": "Place tablewares.",
+    "scene_01__A004/seq__7e22693a4cd1ae3cb531__2023-04-28-18-48-31": "Grip something into the bowl.",
+    "scene_01__A004/seq__9705549046ba84963239__2023-04-28-18-44-14": "Scoop something into the bowl.",
+    "scene_01__A004/seq__c81afdb38bd9b52ed512__2023-04-28-18-35-55": "Screw the bottle for secure storage.",
+    "scene_01__A004/seq__4102ced88c60ebdf8023__2023-04-28-18-37-52": "Screw the bottle.",
+    "scene_01__A004/seq__d570c3d83771037b2600__2023-04-28-18-53-19": "Assemble the donut onto the bread.",
+    "scene_01__A004/seq__1469a06acb399dbd2b65__2023-04-28-18-40-56": "Uncap the bottle.",
+    "scene_01__A004/seq__c1e3698b2dfc3650fa61__2023-04-28-18-35-15": "Unscrew the bottle.",
+    "scene_01__A004/seq__670845b55c2609fd17de__2023-04-28-18-37-09": "Unscrew the bottle.",
+    "scene_01__A004/seq__95a63dbb3016c9502247__2023-04-28-19-33-36": "Heat the donut with microwave oven.",
+    "scene_01__A004/seq__c08f911077d1ee2eeada__2023-04-28-19-04-39": "Weigh something with scale by pouring it into the plate.",
+    "scene_01__A004/seq__29b5a6c10c68857d1431__2023-04-28-19-00-55": "Wipe the plate.",
+    "scene_01__A005/seq__fccd810e2fd673b25c86__2023-04-15-14-30-47": "Cap the bottle.",
+    "scene_01__A005/seq__86fb02fdc014aad9042d__2023-04-15-16-00-57": "Prepare a cup of wine.",
+    "scene_01__A005/seq__cfb07d741cfacfe08a3f__2023-04-15-15-04-10": "Cut the apple.",
+    "scene_01__A005/seq__d74f8262735a1aaedccd__2023-04-15-15-06-01": "Cut the pear.",
+    "scene_01__A005/seq__529d7c756240d5a9d5b3__2023-04-24-18-30-05": "Prepare a chilled apple platter.",
+    "scene_01__A005/seq__917052534a7afb8c3113__2023-04-15-14-44-16": "Place the knife and fork in position.",
+    "scene_01__A005/seq__a15ff124580d494fb406__2023-04-15-14-46-19": "Place the knife and fork in position and place the spoon in an appropriate position for use.",
+    "scene_01__A005/seq__aac9de080442d7bb75be__2023-04-15-14-48-14": "Place the spoon inside the plate and place the knife and fork in position.",
+    "scene_01__A005/seq__cd0aeb52231c8eb7e6d2__2023-04-24-20-01-27": "Prepare a cup of milk tea.",
+    "scene_01__A005/seq__292669123693a19994f3__2023-04-24-20-08-10": "Prepare a cup of chilled fruit tea.",
+    "scene_01__A005/seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31": "Prepare a cup of honey coffee.",
+    "scene_01__A005/seq__cd9878ea231c9c5825b0__2023-04-15-14-33-29": "Grip ice cubes into the wineglass.",
+    "scene_01__A005/seq__87bc44222c663275d75e__2023-04-15-14-14-54": "Scoop something into the bowl.",
+    "scene_01__A005/seq__14282919c498f2f82d25__2023-04-15-14-18-40": "Scoop something into the bowl.",
+    "scene_01__A005/seq__82fc7cf062cdca89908c__2023-04-15-14-25-55": "Screw the bottle for secure storage.",
+    "scene_01__A005/seq__7c014b61a8766e1b1396__2023-04-15-14-28-13": "Screw the bottle for secure storage.",
+    "scene_01__A005/seq__5f15e8d4dc00a4617cf9__2023-04-17-09-25-38": "Assemble the donut onto the bread for the product.",
+    "scene_01__A005/seq__83c6bf4e8efcc0fcb730__2023-04-15-14-36-56": "Stir in the mug.",
+    "scene_01__A005/seq__0f020df7ffbbce295312__2023-04-15-14-39-24": "Stir with the spoon.",
+    "scene_01__A005/seq__1c3d17ad14e452b9a772__2023-04-15-14-40-09": "Stir with the spoon.",
+    "scene_01__A005/seq__d4bf979d5a225b98a540__2023-04-15-14-41-16": "Stir with the fork.",
+    "scene_01__A005/seq__7ed08a502cc8212fcea1__2023-04-15-14-30-06": "Uncap the bottle.",
+    "scene_01__A005/seq__d01e231560b7068d4149__2023-04-15-14-24-56": "Unscrew the bottle.",
+    "scene_01__A005/seq__4fd8e3393331c29e3291__2023-04-15-14-27-29": "Unscrew the bottle.",
+    "scene_01__A005/seq__0ef671b3e0bc8f36f8ea__2023-04-15-14-52-14": "Wipe the plate with the sponge.",
+    "scene_01__A007/seq__183cec0dfbabf5b6eeb7__2023-04-21-10-22-47": "Cap the teapot.",
+    "scene_01__A007/seq__c11fb8b902b97ca04857__2023-04-21-10-24-26": "Cap the bottle.",
+    "scene_01__A007/seq__0b666c7b299d875e5f1e__2023-04-21-11-38-16": "Prepare a cup of chilled juice milk with jam.",
+    "scene_01__A007/seq__a4e00c1df88966b407a0__2023-04-21-11-42-43": "Prepare a cup of chilled fruit tea.",
+    "scene_01__A007/seq__de586f670a1f19a58f4a__2023-04-21-10-53-19": "Cut the bread.",
+    "scene_01__A007/seq__eec5e47187bc8da8c3be__2023-04-21-10-54-22": "Cut the bread.",
+    "scene_01__A007/seq__4602f51364aa3751d953__2023-04-21-10-56-14": "Cut the apple.",
+    "scene_01__A007/seq__26fd908ae5324a664d27__2023-04-21-10-57-35": "Cut the pear.",
+    "scene_01__A007/seq__70ca2910d70064f96b6b__2023-04-21-10-28-44": "Pour something from the cup to the wineglass.",
+    "scene_01__A007/seq__afa27ec7f81f9bf0854b__2023-04-21-10-32-24": "Grip something into the bowl.",
+    "scene_01__A007/seq__32290212848a70175823__2023-04-21-10-26-59": "Scoop something into the wineglass.",
+    "scene_01__A007/seq__f3c30b438c274ca9bf17__2023-04-21-10-18-40": "Screw the bottle.",
+    "scene_01__A007/seq__7055a02d8903613ebfd6__2023-04-21-10-21-03": "Screw the bottle.",
+    "scene_01__A007/seq__e87413a2e162e82f91f9__2023-04-21-10-40-02": "Assemble the apple and the bread together into a sandwich in the fryingpan.",
+    "scene_01__A007/seq__2979cde795c345f5b70b__2023-04-21-10-35-54": "Stir in the cup.",
+    "scene_01__A007/seq__a2420e83341621bb75d0__2023-04-21-10-46-43": "Scrape something into the mug.",
+    "scene_01__A007/seq__c3f6f36802e1ea88936f__2023-04-21-10-22-24": "Uncap the teapot.",
+    "scene_01__A007/seq__3783890ba75da6556f48__2023-04-21-10-24-03": "Uncap the bottle.",
+    "scene_01__A007/seq__90724a6acd7d7f462f5a__2023-04-21-10-17-48": "Unscrew the bottle.",
+    "scene_01__A007/seq__c8881ca3dc9cacb8a200__2023-04-21-10-19-58": "Unscrew the bottle.",
+    "scene_01__A007/seq__292a99fe43cd5ec6f639__2023-04-21-10-50-59": "Weigh the plate with scale.",
+    "scene_01__A007/seq__085b5f61058e6d772af8__2023-04-21-10-48-54": "Wipe the fryingpan.",
+    "scene_01__A008/seq__ab46c9bce215db8cf6a0__2023-04-23-11-36-06": "Cap the teapot.",
+    "scene_01__A008/seq__495b60ed26f7b9c5cd2e__2023-04-23-11-41-39": "Cap the bottle.",
+    "scene_01__A008/seq__aef7ccef2947d1344274__2023-05-09-19-04-10": "Cut the apple.",
+    "scene_01__A008/seq__a956952e2e29a7689f13__2023-05-09-19-06-12": "Cut the pear.",
+    "scene_01__A008/seq__450509366eaacff14b71__2023-05-09-19-09-07": "Spread the jam on the bread.",
+    "scene_01__A008/seq__9971521c165f863aae09__2023-05-09-18-50-56": "Place tablewares.",
+    "scene_01__A008/seq__4aefa542ed038308729c__2023-04-23-11-46-39": "Pour something into the mug.",
+    "scene_01__A008/seq__af83649f6f2feeccb84a__2023-04-23-11-47-54": "Pour something into the mug.",
+    "scene_01__A008/seq__4e9026b0a29d85b995ae__2023-05-09-18-37-48": "Pour something from the mug to the bowl.",
+    "scene_01__A008/seq__674e82d8f45bf9d17247__2023-05-09-18-40-09": "Grip ice cubes into the bowl.",
+    "scene_01__A008/seq__40db17fed1c0f6f70765__2023-04-23-11-44-50": "Scoop something into the mug.",
+    "scene_01__A008/seq__fe8dc9acd340b2f91423__2023-05-09-18-34-20": "Scoop something from the bottle into the bowl.",
+    "scene_01__A008/seq__6803df6444210e558b06__2023-04-23-11-33-27": "Screw the bottle.",
+    "scene_01__A008/seq__0799434df1bd7f68b4ad__2023-04-23-11-39-39": "Screw the bottle.",
+    "scene_01__A008/seq__147fe54c0f342a438cce__2023-05-09-18-48-36": "Assemble the donut onto the bread.",
+    "scene_01__A008/seq__c5cb5d97670913757f41__2023-05-09-18-42-57": "Stir with the rod in the mug.",
+    "scene_01__A008/seq__2630520df6141d677761__2023-05-09-18-55-32": "Scrape from the bowl to the plate.",
+    "scene_01__A008/seq__5a0652d1d9856f7991ec__2023-04-23-11-35-38": "Uncap the teapot.",
+    "scene_01__A008/seq__5f8e29bcb18e1b3fe01f__2023-04-23-11-41-18": "Uncap the bottle.",
+    "scene_01__A008/seq__a3ff7397cf04f46e6ee2__2023-04-23-11-32-11": "Unscrew the bottle.",
+    "scene_01__A008/seq__709821691ed6e9de0ecf__2023-04-23-11-38-59": "Unscrew the bottle.",
+    "scene_01__A008/seq__61886a6456bb8cad10b4__2023-05-09-19-17-58": "Heat with microwave oven.",
+    "scene_01__A008/seq__67cb33d0d0c47cc2e7f7__2023-05-09-19-01-28": "Weigh the plate with scale.",
+    "scene_01__A008/seq__1ad2eda06874714a15b3__2023-05-09-18-58-42": "Wipe the plate with the sponge.",
+    "scene_01__O001/seq__6713218067ae5432d3f4__2023-04-13-19-19-05": "Cap the bottle.",
+    "scene_01__O001/seq__97fc3dab0aa577c392a5__2023-04-13-20-53-02": "Prepare a cup of chilled sweet milk tea.",
+    "scene_01__O001/seq__77461f70ecd1a035625b__2023-04-04-15-57-58": "Cut the apple.",
+    "scene_01__O001/seq__9ed971eba20293345ab6__2023-04-13-20-25-04": "Cut the apple.",
+    "scene_01__O001/seq__ced688ab0e1a80840f16__2023-04-13-20-30-37": "Cut the apple.",
+    "scene_01__O001/seq__5c9130f2eacf1fd06097__2023-04-13-20-15-39": "Cut the bread.",
+    "scene_01__O001/seq__18a3cb808f95ca6c01ef__2023-04-13-20-22-05": "Cut the bread.",
+    "scene_01__O001/seq__598a5433c7f9d14d1697__2023-04-13-20-33-59": "Cut the pear.",
+    "scene_01__O001/seq__453b72e65d60f319b672__2023-04-13-19-34-00": "Place tablewares.",
+    "scene_01__O001/seq__b9695e35fd3c75db4104__2023-04-13-18-59-44": "Pour something from the bottle to the mug.",
+    "scene_01__O001/seq__1292e65ea2c7e60dade4__2023-04-13-19-00-36": "Pour something from the bottle to the mug.",
+    "scene_01__O001/seq__1db61b9e2c1e28152c3c__2023-04-13-19-25-39": "Grip cubes from the plate to the mug.",
+    "scene_01__O001/seq__03ac9a6bd11cc191e7bb__2023-04-13-18-55-33": "Scoop something from the plate to the mug.",
+    "scene_01__O001/seq__13d539d042fb98c2e724__2023-04-13-19-05-47": "Screw the bottle.",
+    "scene_01__O001/seq__171c4910388526f5aae1__2023-04-13-19-09-31": "Screw the bottle.",
+    "scene_01__O001/seq__468f5ce68fbd90d4a1e5__2023-04-13-19-13-56": "Screw the bottle.",
+    "scene_01__O001/seq__7415df221fded77cf598__2023-04-13-20-38-59": "Assemble the bread and the apple into a sandwich.",
+    "scene_01__O001/seq__921482c3e31429d8b61a__2023-04-04-15-50-32": "Stir in the mug.",
+    "scene_01__O001/seq__7e589d5e8fbbdc9d5954__2023-04-13-19-28-55": "Stir in the mug.",
+    "scene_01__O001/seq__2d90f5832a84b604df3c__2023-04-13-19-18-14": "Uncap the bottle.",
+    "scene_01__O001/seq__8ec658be365180b783c2__2023-04-13-19-04-55": "Unscrew the bottle.",
+    "scene_01__O001/seq__733f97b08b2e1413967d__2023-04-13-19-08-31": "Unscrew the bottle.",
+    "scene_01__O001/seq__1e305afa3fe9e54b50a2__2023-04-13-19-13-04": "Unscrew the bottle.",
+    "scene_01__O001/seq__f55d18cbf3be7dc01feb__2023-04-13-19-46-30": "Heat with microwave oven.",
+    "scene_01__O001/seq__2003401fe2e41e9faf6d__2023-04-13-19-37-20": "Weigh something with scale by scooping it into the plate.",
+    "scene_01__O001/seq__2501290bf9590d752c3f__2023-04-13-20-10-44": "Wipe the fryingpan.",
+    "scene_02__A001/seq__fc88d84bc8391e22a7e1__2023-04-15-19-24-52": "Brush whiteboard.",
+    "scene_02__A001/seq__56210cebdeed66d8702f__2023-04-22-14-22-29": "Brush whiteboard.",
+    "scene_02__A001/seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02": "Close book.",
+    "scene_02__A001/seq__6c4203e3d43f1e8f9ff7__2023-04-15-18-51-22": "Close laptop.",
+    "scene_02__A001/seq__f1029b6690be6153cd26__2023-04-15-19-54-18": "Ready the laptop on the desktop for work.",
+    "scene_02__A001/seq__f1114564625b503789c8__2023-04-15-19-56-33": "Tidy up the desktop with the laptop after work.",
+    "scene_02__A001/seq__cebe99032fc48d6e5bd9__2023-04-15-19-59-32": "Ready the laptop on the desktop for entertainment.",
+    "scene_02__A001/seq__ac736a20fe59cf0a1df3__2023-04-15-19-49-11": "Illuminate the desktop.",
+    "scene_02__A001/seq__1dfb92d70d50719de591__2023-04-15-20-05-49": "Sharpen the pencil and write.",
+    "scene_02__A001/seq__b5736ef0a80eed1a965b__2023-04-22-16-02-02": "Tidy up the desktop with the laptop after entertainment.",
+    "scene_02__A001/seq__1c29fc5cfe3b18c6b6ea__2023-04-22-16-25-53": "Tidy up the desktop after paper-cutting.",
+    "scene_02__A001/seq__a3323f998334c09c8f2f__2023-04-22-15-48-41": "Ready the laptop on the desktop for entertainment.",
+    "scene_02__A001/seq__b7b34c5faa439935f1e4__2023-04-22-16-16-39": "Write and bind the paper.",
+    "scene_02__A001/seq__fbc7482529e4350bba74__2023-04-22-16-10-37": "Design and cut out rectangle shape on the paper.",
+    "scene_02__A001/seq__7a72028294223f47a2ab__2023-04-18-14-45-56": "Turn on the lamp, open laptop, and power on the laptop.",
+    "scene_02__A001/seq__c5e7e1c63f986d3907a2__2023-04-18-14-46-59": "Turn off the lamp and close laptop.",
+    "scene_02__A001/seq__9a05b3d7644ba1a5d470__2023-04-18-14-49-54": "Turn off the lamp and put something into box.",
+    "scene_02__A001/seq__f639df32f29fdc405c2a__2023-04-18-14-51-24": "Turn on the lamp and take out of box.",
+    "scene_02__A001/seq__f040823652e57df04efa__2023-04-18-15-09-12": "Turn off the lamp and remove power plug.",
+    "scene_02__A001/seq__16df147a7132432bf9e4__2023-04-18-15-14-11": "Insert usb and plug in power plug.",
+    "scene_02__A001/seq__66c7f4768cf9bbf6c031__2023-04-15-18-56-56": "Shear paper.",
+    "scene_02__A001/seq__03142eab556e3f4d2c60__2023-04-15-18-42-27": "Insert usb.",
+    "scene_02__A001/seq__0326b05031e36e846485__2023-04-15-18-46-12": "Insert usb.",
+    "scene_02__A001/seq__25281b1248ce06ef00f4__2023-04-15-18-50-17": "Open laptop.",
+    "scene_02__A001/seq__374a762fe82568017e36__2023-04-15-19-44-49": "Plug in power plug.",
+    "scene_02__A001/seq__f3712eb9156a7fb5e7c4__2023-04-15-18-39-32": "Press the button on the lamp.",
+    "scene_02__A001/seq__4330d8d30c1293560d96__2023-04-15-19-04-36": "Put something into box.",
+    "scene_02__A001/seq__a2b162144bebd1c592b2__2023-04-15-19-09-07": "Put something into drawer.",
+    "scene_02__A001/seq__379379a9898fec9a49dd__2023-04-15-19-14-26": "Put flower into vase.",
+    "scene_02__A001/seq__668d8a3bcc963ab1b2f1__2023-04-15-18-33-57": "Remove lightbulb.",
+    "scene_02__A001/seq__4095256153f086ed7e72__2023-04-15-19-45-48": "Remove power plug.",
+    "scene_02__A001/seq__3599b99612c08fedc88a__2023-04-15-18-43-51": "Remove usb.",
+    "scene_02__A001/seq__8a4603f3239aa3cf0e12__2023-04-15-18-47-44": "Remove usb.",
+    "scene_02__A001/seq__49fa85b297be7e5b11a7__2023-04-15-19-01-29": "Sharpen pencil.",
+    "scene_02__A001/seq__fcb20723b51d8d8a3223__2023-04-22-14-24-36": "Staple paper.",
+    "scene_02__A001/seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38": "Staple paper.",
+    "scene_02__A001/seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20": "Take something out of box.",
+    "scene_02__A001/seq__e78166802df1a79107b6__2023-04-15-19-11-07": "Take something out of drawer.",
+    "scene_02__A001/seq__78c622de11dd1e1bf382__2023-04-15-19-40-40": "Write on paper.",
+    "scene_02__A001/seq__ebfdd1628a285feceaf7__2023-04-15-19-20-56": "Write on whiteboard.",
+    "scene_02__A001/seq__e6d2be38fe14846654b2__2023-04-22-14-20-56": "Write on whiteboard.",
+    "scene_02__A002/seq__ed3a1297b878ff4e778d__2023-04-17-15-10-18": "Brush whiteboard.",
+    "scene_02__A002/seq__2a44ff13cf5a979687cf__2023-04-17-15-11-35": "Brush whiteboard.",
+    "scene_02__A002/seq__20b58d6c47df82c2bb9a__2023-04-22-09-41-11": "Brush whiteboard.",
+    "scene_02__A002/seq__4635d47c6f3886b08da2__2023-04-17-14-51-43": "Close laptop.",
+    "scene_02__A002/seq__e1fa69abb1738c8fea90__2023-04-17-14-54-52": "Shear paper.",
+    "scene_02__A002/seq__a2365494589b523a8e31__2023-04-17-14-41-57": "Insert usb.",
+    "scene_02__A002/seq__e353fef56c230c7f05bf__2023-04-17-14-47-11": "Insert usb.",
+    "scene_02__A002/seq__338b1e8d115be91c9473__2023-04-17-14-49-08": "Insert usb.",
+    "scene_02__A002/seq__4ad1acc8304e637ce76c__2023-04-17-15-42-47": "Open book.",
+    "scene_02__A002/seq__5c41eca99a8f68254e0d__2023-04-17-14-51-05": "Open laptop.",
+    "scene_02__A002/seq__fd02f5494eb920248002__2023-04-17-15-36-56": "Plug in power plug.",
+    "scene_02__A002/seq__f631d0fbc642f8d28aa7__2023-04-17-14-38-17": "Press the button on the lamp.",
+    "scene_02__A002/seq__592b80dc7af63ce7ae6e__2023-04-17-14-59-25": "Put something into box.",
+    "scene_02__A002/seq__fdb1f133ee125f509b32__2023-04-17-15-02-52": "Put something into drawer.",
+    "scene_02__A002/seq__fbf4bb7b08408aa2bb85__2023-04-17-15-05-35": "Put flower into vase.",
+    "scene_02__A002/seq__2d16964fcd4c9bf292fe__2023-04-17-14-39-28": "Remove lightbulb.",
+    "scene_02__A002/seq__105a5b661023ffe36518__2023-04-17-15-37-57": "Remove power plug.",
+    "scene_02__A002/seq__11483e8d95bdec068a5e__2023-04-17-14-43-20": "Remove usb.",
+    "scene_02__A002/seq__f7e877a8c1c5bbf69686__2023-04-17-14-45-23": "Remove usb.",
+    "scene_02__A002/seq__a6b3a1258c39966e97b3__2023-04-17-14-47-52": "Remove usb.",
+    "scene_02__A002/seq__3858fe09a5a39a86248e__2023-04-17-14-49-58": "Remove usb.",
+    "scene_02__A002/seq__a3c74ce1b591e04a02e6__2023-04-17-14-57-05": "Sharpen pencil.",
+    "scene_02__A002/seq__37576cfe40029aca15ea__2023-04-22-09-43-29": "Staple paper.",
+    "scene_02__A002/seq__1bd693f46d6a76139ebe__2023-04-22-09-46-02": "Staple paper.",
+    "scene_02__A002/seq__73d28bc9b0c2cf63b829__2023-04-17-15-00-12": "Take out of box.",
+    "scene_02__A002/seq__908a1edaf860b6977ee0__2023-04-17-15-03-51": "Take out of drawer.",
+    "scene_02__A002/seq__75a7a66ac2f78914752b__2023-04-17-15-15-05": "Write on paper.",
+    "scene_02__A002/seq__2d54f09a2be744b05fc3__2023-04-17-15-08-33": "Write on whiteboard.",
+    "scene_02__A002/seq__e9aab4c73ce9d2c16b85__2023-04-22-09-37-57": "Write on whiteboard.",
+    "scene_02__A004/seq__352c9c1998b2e922f92c__2023-05-07-18-34-12": "Tidy up the desktop with the laptop after work.",
+    "scene_02__A004/seq__9cf448429878c58036ef__2023-05-07-18-47-31": "Tidy up the desktop with the laptop after entertainment.",
+    "scene_02__A004/seq__c52c712037787f909609__2023-05-07-18-57-36": "Tidy up the desktop after writing.",
+    "scene_02__A004/seq__7cd8f3605936de64aad1__2023-05-05-20-29-44": "Plug in power plug and turn on the lamp.",
+    "scene_02__A004/seq__959a025a97c09ece4891__2023-05-07-19-39-17": "Design and cut out rectangle shape on the paper.",
+    "scene_02__A004/seq__8e463d9013085a8a682a__2023-05-07-19-42-17": "Design and cut out rectangle shape on the paper.",
+    "scene_02__A004/seq__59a87748f870590410f1__2023-05-07-19-50-16": "Design and cut out flower shape on the paper.",
+    "scene_02__A004/seq__c8fd4cf964f09bc29f0f__2023-05-07-19-30-16": "Design and draw on the paper.",
+    "scene_02__A004/seq__701e7b37b5a68ab5d6b9__2023-04-28-18-23-10": "Plug in power plug.",
+    "scene_02__A004/seq__817fbb3e3627c6d80646__2023-04-26-20-51-54": "Brush whiteboard.",
+    "scene_02__A004/seq__a6a05580601fe76cb729__2023-04-26-20-32-59": "Close laptop.",
+    "scene_02__A004/seq__004ef9c75fcecb9c2778__2023-04-26-20-35-21": "Shear paper.",
+    "scene_02__A004/seq__1a81a62693413b1d5c8c__2023-04-26-20-19-25": "Insert lightbulb.",
+    "scene_02__A004/seq__43bb9eac8db455cf26f5__2023-04-26-20-27-29": "Insert usb.",
+    "scene_02__A004/seq__476a5d02238fadc5e2ff__2023-04-26-20-24-59": "Insert usb.",
+    "scene_02__A004/seq__e983778af409037ac690__2023-04-26-20-32-21": "Open laptop.",
+    "scene_02__A004/seq__5cb937c572504e2267d0__2023-04-26-20-30-59": "Press the button on the lamp.",
+    "scene_02__A004/seq__988f47650371f35d6001__2023-04-26-20-39-46": "Put into box.",
+    "scene_02__A004/seq__d68290a50c82ed38e879__2023-04-26-20-42-56": "Put into drawer.",
+    "scene_02__A004/seq__955a258902ecb3fdb0c0__2023-04-26-20-46-37": "Put flower into vase.",
+    "scene_02__A004/seq__5844a24008c2bda16ac4__2023-04-26-20-20-51": "Remove lightbulb.",
+    "scene_02__A004/seq__17716831a0aebbef3d65__2023-04-26-20-28-09": "Remove usb.",
+    "scene_02__A004/seq__2bbf9a16d1da3c76cb79__2023-04-26-20-26-01": "Remove usb.",
+    "scene_02__A004/seq__5ec2c35c4d7fa335d0cd__2023-04-26-20-38-02": "Sharpen pencil.",
+    "scene_02__A004/seq__b9b4c5f90793072b9d41__2023-04-26-20-40-40": "Take out of box.",
+    "scene_02__A004/seq__3efc8765c5fecbe7385e__2023-04-26-20-45-15": "Take out of drawer.",
+    "scene_02__A004/seq__c64c93242d84629ea481__2023-04-26-20-54-06": "Write on paper.",
+    "scene_02__A004/seq__380a384622fbf36ca0f1__2023-04-26-20-50-19": "Write on whiteboard.",
+    "scene_02__A004/seq__e7d0dfa48215c0ab166c__2023-04-28-18-24-00": "Remove power plug.",
+    "scene_02__A004/seq__a3e1fabd832fd970ef2a__2023-04-28-18-32-25": "Staple paper.",
+    "scene_02__A004/seq__a434fa715015ec6ad1e7__2023-04-28-19-37-32": "Staple paper.",
+    "scene_02__A004/seq__b4b28ce5e8b2ee9ca061__2023-05-07-18-38-10": "Ready the laptop and the lamp on the desktop for work.",
+    "scene_02__A004/seq__9d88bdcd8d2bc73a9f8a__2023-05-07-18-31-07": "Ready the laptop and the lamp on the desktop for work.",
+    "scene_02__A004/seq__ce34397dc4962c9ad138__2023-05-07-19-57-53": "Design, write and bind the paper.",
+    "scene_02__A004/seq__f9da9f8777e032f5d583__2023-05-07-20-00-26": "Write and bind the paper.",
+    "scene_02__A004/seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56": "Design, write and bind the paper.",
+    "scene_02__A004/seq__486fccbc8bd722e4d8df__2023-05-07-18-53-42": "Ready the desktop for drawing.",
+    "scene_02__A005/seq__a5e8acc91b23e487f576__2023-04-20-10-29-01": "Brush whiteboard.",
+    "scene_02__A005/seq__6577d8c6667be24747cd__2023-04-20-09-47-27": "Close laptop.",
+    "scene_02__A005/seq__1bf8be52b72e59d716e9__2023-04-25-20-42-33": "Take the usb out of drawer, insert usb, and open laptop.",
+    "scene_02__A005/seq__5ced9ba4d054b4039ecb__2023-04-25-20-36-43": "Put something into drawer and put the drawer into box.",
+    "scene_02__A005/seq__1b9e60c37a3a7fcacbd4__2023-04-25-20-39-59": "Put the mouse into drawer, put the drawer into box, and close laptop.",
+    "scene_02__A005/seq__6b5c334699d51ff0993a__2023-04-25-20-43-37": "Remove usb, close laptop, and put the usb into drawer.",
+    "scene_02__A005/seq__b41b7d7a43d0824a7c5d__2023-04-20-09-52-44": "Shear paper.",
+    "scene_02__A005/seq__f0b722436e99d448cd74__2023-04-25-18-55-27": "Ready the desktop for drawing.",
+    "scene_02__A005/seq__0464d8feaa9838cb010d__2023-04-20-09-31-17": "Insert lightbulb.",
+    "scene_02__A005/seq__df069c5a6cf843623ea0__2023-04-20-09-38-43": "Insert usb.",
+    "scene_02__A005/seq__17cdfcea686b6cb92e65__2023-04-20-09-40-36": "Insert usb.",
+    "scene_02__A005/seq__71d96cbe8a5917db300a__2023-04-20-09-43-29": "Insert usb.",
+    "scene_02__A005/seq__4c86f2f46f23414c962d__2023-04-20-09-46-21": "Open laptop.",
+    "scene_02__A005/seq__efd166c0cffda247d1e9__2023-04-20-10-04-31": "Plug in power plug.",
+    "scene_02__A005/seq__788108ba88cdeb93f1bb__2023-04-25-18-26-40": "Ready the laptop on the desktop for work.",
+    "scene_02__A005/seq__a5d2c553db85848395c8__2023-04-25-18-31-48": "Ready the laptop on the desktop for work.",
+    "scene_02__A005/seq__f863fd7448b640950a46__2023-04-20-09-33-42": "Press the button on the lamp.",
+    "scene_02__A005/seq__1e9952b388e901e173b3__2023-04-20-09-34-29": "Press the button on the lamp.",
+    "scene_02__A005/seq__0366f467a3e260d6c840__2023-04-20-09-55-54": "Put something into box.",
+    "scene_02__A005/seq__3d80692678e9f2b16558__2023-04-20-09-59-17": "Put something into drawer.",
+    "scene_02__A005/seq__e965dd3f42c13082d017__2023-04-20-10-01-26": "Put flower into vase.",
+    "scene_02__A005/seq__76f7db714ac51188ae37__2023-04-20-10-05-30": "Remove power plug.",
+    "scene_02__A005/seq__0a175b38f46241c87340__2023-04-20-09-41-24": "Remove usb.",
+    "scene_02__A005/seq__681840c979d1c250086f__2023-04-20-09-44-47": "Remove usb.",
+    "scene_02__A005/seq__59d85ed79373889d9390__2023-04-20-09-49-59": "Sharpen pencil.",
+    "scene_02__A005/seq__783a1352e1d7eba567ed__2023-04-20-10-36-46": "Staple paper.",
+    "scene_02__A005/seq__0ec0d3a6fdd6b9e0faf5__2023-04-20-10-37-52": "Staple paper.",
+    "scene_02__A005/seq__0d1653eb4f8f74894438__2023-04-20-10-38-33": "Staple paper.",
+    "scene_02__A005/seq__7e62ca93ce2c772e1229__2023-04-25-19-09-36": "Write and bind the paper.",
+    "scene_02__A005/seq__37d7bf4253158917183b__2023-04-20-09-56-54": "Take something out of box.",
+    "scene_02__A005/seq__1ad80ac24ce6491d2bba__2023-04-20-10-00-01": "Take something out of drawer.",
+    "scene_02__A005/seq__5e99cda328f2ad6eb66f__2023-04-25-18-52-10": "Tidy up the desktop after drawing.",
+    "scene_02__A005/seq__fb9699b5af2e75883b2a__2023-04-25-18-34-18": "Tidy up the desktop with the laptop after work.",
+    "scene_02__A005/seq__39c30d86600d4b2e4581__2023-04-25-18-43-06": "Tidy up the desktop with the laptop after entertainment.",
+    "scene_02__A005/seq__e04db873d94e3ad37cbe__2023-04-25-19-12-10": "Tidy up the desktop after writing.",
+    "scene_02__A005/seq__05aa22c9d5022923fd56__2023-04-20-10-34-05": "Write on paper.",
+    "scene_02__A007/seq__0e05b285591f4a42ef67__2023-04-19-10-09-18": "Brush whiteboard.",
+    "scene_02__A007/seq__eb5f919d73a9ac759146__2023-04-20-14-20-06": "Brush whiteboard.",
+    "scene_02__A007/seq__e550397c771f3c1c387b__2023-04-19-09-39-42": "Close laptop.",
+    "scene_02__A007/seq__8ca5ca1f0ba51518d9ff__2023-04-19-09-42-57": "Shear paper.",
+    "scene_02__A007/seq__c0087656fa9675305cb3__2023-04-19-09-33-53": "Insert usb.",
+    "scene_02__A007/seq__af2591a14bda4e44e211__2023-04-19-09-37-19": "Insert usb.",
+    "scene_02__A007/seq__e2f2dbbe5087e85904d9__2023-04-19-10-00-27": "Open book.",
+    "scene_02__A007/seq__9a0f56cc00f8f61c02f8__2023-04-19-10-01-54": "Open book.",
+    "scene_02__A007/seq__60830eb1a79bf681240c__2023-04-19-09-40-41": "Open laptop.",
+    "scene_02__A007/seq__8e4b0023921526f5c201__2023-04-19-09-55-18": "Plug in power plug.",
+    "scene_02__A007/seq__6d7b58ce5276a68f11b3__2023-04-19-09-31-58": "Press the button on the lamp.",
+    "scene_02__A007/seq__4b10d3a130f5f8ecea3e__2023-04-19-09-49-17": "Put something into box.",
+    "scene_02__A007/seq__bd00b7fd3161351b0de5__2023-04-19-09-51-36": "Put something into drawer.",
+    "scene_02__A007/seq__e741e70e11d7cfa027dd__2023-04-19-09-52-58": "Put flower into vase.",
+    "scene_02__A007/seq__368db7b34042e99b40fb__2023-04-19-09-58-31": "Remove power plug.",
+    "scene_02__A007/seq__126ad7e6ea35c8ec7aaf__2023-04-19-09-35-59": "Remove usb.",
+    "scene_02__A007/seq__45d4b97267414ef9a719__2023-04-19-09-38-23": "Remove usb.",
+    "scene_02__A007/seq__8c243ec220de4e47e630__2023-04-19-09-45-19": "Sharpen pencil.",
+    "scene_02__A007/seq__02c02468f336c6fd509e__2023-04-19-09-46-24": "Sharpen pencil.",
+    "scene_02__A007/seq__8eb839a0c43c1f7c2ce9__2023-04-20-14-23-33": "Staple paper.",
+    "scene_02__A007/seq__d7c9c503271d9e056101__2023-04-20-14-22-41": "Staple paper.",
+    "scene_02__A007/seq__79e821de8b915a202231__2023-04-19-09-48-20": "Take something out of box.",
+    "scene_02__A007/seq__a39c7e960526c1e528ff__2023-04-19-09-50-50": "Take something out of drawer.",
+    "scene_02__A007/seq__0308b11a48fa1bc03f78__2023-05-15-18-33-56": "Tidy up the desktop with the laptop after work.",
+    "scene_02__A007/seq__47e95cffd68d298d0676__2023-05-15-18-41-34": "Tidy up the desktop with the laptop after entertainment.",
+    "scene_02__A007/seq__9bb1738583a36e74130e__2023-05-15-19-05-51": "Shear and bind paper.",
+    "scene_02__A007/seq__9a028b2d4dc8ce4955bf__2023-05-15-18-47-33": "Design and draw on the paper.",
+    "scene_02__A007/seq__82851505eab82005b6e2__2023-05-15-18-55-06": "Design and draw on the paper.",
+    "scene_02__A007/seq__59796d68e1187324f398__2023-05-15-18-51-04": "Tidy up the desktop after drawing.",
+    "scene_02__A007/seq__87c3c230a6020d994fe6__2023-05-15-18-59-33": "Tidy up the desktop after drawing.",
+    "scene_02__A007/seq__63ca89a316cb80143b92__2023-05-15-18-29-19": "Ready the laptop on the desktop for work.",
+    "scene_02__A007/seq__ad1415514c0aa0d3c778__2023-05-15-18-38-37": "Ready the laptop and the lamp on the desktop for entertainment.",
+    "scene_02__A007/seq__662b07567133f2490efc__2023-05-15-19-42-12": "Design, draw and cut out flower shape on the paper.",
+    "scene_02__A007/seq__f9b2fc1b7c558a45a301__2023-05-15-19-47-02": "Design, draw and cut out flower shape on the paper.",
+    "scene_02__A007/seq__95c93c4a703875a021a3__2023-05-15-19-50-37": "Tidy up the desktop after paper-cutting.",
+    "scene_02__A007/seq__4e42c78633df66b314f2__2023-05-15-19-33-21": "Design, draw and bind the paper.",
+    "scene_02__A007/seq__06d2f1c8ee39209ea62a__2023-05-15-19-37-06": "Tidy up the desktop after binding paper.",
+    "scene_02__A007/seq__8a043f2c9d848ac15633__2023-04-20-14-17-37": "Write on whiteboard.",
+    "scene_02__A007/seq__0fb0e2562f38ca2f4f05__2023-04-20-14-18-49": "Write on whiteboard.",
+    "scene_02__A008/seq__cec40864483cd4d4bdb1__2023-04-23-09-44-33": "Close laptop.",
+    "scene_02__A008/seq__d447873bf1bc844be9a1__2023-04-23-09-35-30": "Insert lightbulb.",
+    "scene_02__A008/seq__502427eb19bcecb4c98b__2023-04-23-09-41-55": "Insert usb.",
+    "scene_02__A008/seq__2bca3e9685a073fd1dd8__2023-04-23-09-38-50": "Insert usb.",
+    "scene_02__A008/seq__afea3bee7d688ce1a062__2023-04-23-09-43-47": "Open laptop.",
+    "scene_02__A008/seq__078629ed55daa617fcdd__2023-04-23-10-30-03": "Plug in power plug.",
+    "scene_02__A008/seq__13834358e28bb0caa81b__2023-04-23-09-31-07": "Press the button on the lamp.",
+    "scene_02__A008/seq__b908c89b32ec6eadd3b0__2023-04-23-09-33-00": "Press the button on the lamp.",
+    "scene_02__A008/seq__3f8ff5acad0ca31e833f__2023-04-23-09-53-48": "Put something into box.",
+    "scene_02__A008/seq__2b7ed1f7a9245e3b56d3__2023-04-23-09-58-53": "Put something into drawer.",
+    "scene_02__A008/seq__f055850a2107160088f3__2023-04-23-10-01-25": "Put something into drawer.",
+    "scene_02__A008/seq__c2ac40c5594b0e0bbb86__2023-04-23-10-04-45": "Put flower into vase.",
+    "scene_02__A008/seq__638fe03c849aae3de16c__2023-04-23-09-36-48": "Remove lightbulb.",
+    "scene_02__A008/seq__e9e88b5bd12c76d18641__2023-04-23-10-31-03": "Remove power plug.",
+    "scene_02__A008/seq__b1586429009f2901b2cc__2023-04-23-09-42-34": "Remove usb.",
+    "scene_02__A008/seq__28c4c942629d21011ba5__2023-04-23-09-39-57": "Remove usb.",
+    "scene_02__A008/seq__72152aa73891712656e2__2023-04-23-09-51-29": "Sharpen pencil.",
+    "scene_02__A008/seq__75d23e8c30535d102b4b__2023-04-23-10-35-42": "Staple paper.",
+    "scene_02__A008/seq__6972749dca2bae65783a__2023-04-23-10-37-07": "Staple paper.",
+    "scene_02__A008/seq__12144603cf99ef98fd4d__2023-04-23-10-39-56": "Staple paper.",
+    "scene_02__A008/seq__7b2d7bd572bd2613b581__2023-04-23-09-56-24": "Take something out of box.",
+    "scene_02__A008/seq__2e0d017822664c54200d__2023-04-23-10-02-23": "Take out of drawer.",
+    "scene_02__A008/seq__db610c98752a6bccc54b__2023-04-23-10-27-43": "Write on paper.",
+    "scene_02__A008/seq__7a6ddf486bb514d6f1d2__2023-04-23-10-07-12": "Write on whiteboard.",
+    "scene_02__O001/seq__001ce74e719d859e35d1__2023-04-04-16-02-01": "Insert usb.",
+    "scene_02__O001/seq__f62ac3be7c610c6718fd__2023-04-04-16-02-37": "Remove usb.",
+    "scene_02__O003/seq__2a060a99bf3342bd1398__2023-04-12-10-22-38": "Brush whiteboard.",
+    "scene_02__O003/seq__eb87745d476a9267f8c5__2023-04-12-10-25-08": "Brush whiteboard.",
+    "scene_02__O003/seq__b4972805ad797ac38b6f__2023-04-12-11-05-36": "Close laptop.",
+    "scene_02__O003/seq__5a9d8e3c8f9bcb540c6f__2023-04-12-09-39-15": "Insert usb.",
+    "scene_02__O003/seq__c3dbd1f0f65bac2c023b__2023-04-12-11-09-17": "Insert usb.",
+    "scene_02__O003/seq__499f174f9f1eb9181733__2023-04-12-09-40-17": "Remove usb.",
+    "scene_03__A001/seq__c3c69f0fba624d8597c0__2023-04-27-18-23-49": "Heat the beaker.",
+    "scene_03__A001/seq__b1fbad5c4fb46a7c0612__2023-04-27-18-27-07": "Heat the test tube.",
+    "scene_03__A001/seq__e7eb22a131c43f5349e9__2023-04-27-18-29-30": "Uncap and ignite the alcohol burner.",
+    "scene_03__A001/seq__a8bfc63c16eff92e2aa6__2023-04-27-18-16-04": "Pour experiment substances from the beaker to the test tube.",
+    "scene_03__A001/seq__9c66ff583dc7d93d9ab9__2023-04-27-18-31-00": "Put off the alcohol burner.",
+    "scene_03__A001/seq__1be0ede087e0ca11e442__2023-04-27-18-20-49": "Shake the test tube.",
+    "scene_03__A001/seq__963fdcad5e6fdd66a990__2023-04-27-18-33-10": "Place asbestos mesh for heating.",
+    "scene_03__A001/seq__53be15af2c1f6371a18c__2023-04-27-18-18-03": "Stir experiment substances in the beaker.",
+    "scene_03__A004/seq__b7853a8caac0b26347c1__2023-04-26-19-19-49": "Transfer and heat liquid in the beaker.",
+    "scene_03__A004/seq__8e5df63b75649763e706__2023-04-26-19-22-54": "Transfer and heat liquid in the beaker.",
+    "scene_03__A004/seq__f7d372ea34c2e13417c3__2023-04-26-19-26-11": "Transfer and heat liquid in the conical flask.",
+    "scene_03__A004/seq__6ca00493d658a7c96f4b__2023-04-26-19-30-01": "Heat liquid in the beaker and transfer liquid into the heated beaker.",
+    "scene_03__A004/seq__0f90057f6302c9e0a117__2023-04-26-19-33-13": "Heat liquid in conical flask and transfer liquid into the heated beaker.",
+    "scene_03__A004/seq__b0b131f2fc3d47f22ee3__2023-04-26-19-37-03": "Heat liquid in conical flask, stir while heating and transfer the heated liquid into the beaker.",
+    "scene_03__A004/seq__3b1e6115aecab0a539cb__2023-04-26-19-40-43": "Transfer the liquid into a beaker, heat it, and then transfer the heated liquid into the test tube.",
+    "scene_03__A004/seq__db0a0f81cabbdbbcecfc__2023-04-26-19-44-56": "Heat liquid in the test tube and transfer the heated liquid into the beaker.",
+    "scene_03__A004/seq__751fb66f8f9b436a99b4__2023-04-26-19-49-07": "Prepare solution in the conical flask through heating.",
+    "scene_03__A004/seq__b5fa37e582ac84807337__2023-04-26-19-53-13": "Prepare solution in the beaker through heating.",
+    "scene_03__A004/seq__30dbe27df1594aeb88dc__2023-04-26-19-57-17": "Mix liquid.",
+    "scene_03__A004/seq__031b77fb5d85fe6c40ec__2023-04-22-18-36-59": "Heat the beaker.",
+    "scene_03__A004/seq__0ffc7ccc2f49cc373084__2023-04-22-18-39-39": "Heat the test tube.",
+    "scene_03__A004/seq__d9987909c09e38143ec8__2023-04-22-18-41-41": "Heat the test tube.",
+    "scene_03__A004/seq__e97733f6d0939bb56475__2023-04-22-18-44-03": "Uncap and ignite the alcohol burner.",
+    "scene_03__A004/seq__c50cea3a13b82213994f__2023-04-22-18-29-19": "Pour experiment substances from the beaker to the test tube.",
+    "scene_03__A004/seq__20aed35da30d4b869590__2023-04-22-18-45-27": "Put off the alcohol burner.",
+    "scene_03__A004/seq__2b3453103507ee1eb883__2023-04-22-18-33-52": "Shake the test tube.",
+    "scene_03__A004/seq__c8c4e4249e0c85e451a1__2023-04-22-18-47-07": "Place the asbestos mesh for heating.",
+    "scene_03__A004/seq__89667ef51c43f56a5d07__2023-04-22-18-31-50": "Stir experiment substances in the beaker.",
+    "scene_03__A004/seq__5fde15c20c15c0e9f8dc__2023-04-22-18-50-13": "Pour experiment substances from the beaker to the test tube and shake the test tube.",
+    "scene_03__A004/seq__f2d09be48f383f8caf97__2023-04-22-18-52-52": "Pour experiment substances from the beaker to the test tube and pour experiment substances from the test tube to another test tube.",
+    "scene_03__A004/seq__0646dd7c73d7f6f68b10__2023-04-22-18-56-22": "Pour experiment substances from the beaker to the test tube and heat the test tube.",
+    "scene_03__A004/seq__79eb5155002e6d5fdb7a__2023-04-22-18-59-18": "Pour experiment substances into the test tube and ignite alcohol burner to prepare for heating.",
+    "scene_03__A004/seq__720b2ff49d71cc7dd56b__2023-04-22-19-01-39": "Stir experiment substances in the beaker and pour the mixed experiment substances into the test tube.",
+    "scene_03__A004/seq__94d04425afc1b0851feb__2023-04-22-19-05-10": "Stir experiment substances in the beaker and heat the beaker.",
+    "scene_03__A004/seq__1dc5157e27ae5157e3bf__2023-04-22-19-25-58": "Shake the test tube, pour experiment substances into another test tube, and pour experiment substances into the beaker.",
+    "scene_03__A004/seq__155cbd68c1fdb424f73d__2023-04-22-19-07-45": "Shake the conical flask and pour experiment substances into the test tube.",
+    "scene_03__A004/seq__da60be610023cdf04491__2023-04-22-19-29-49": "Shake the test tube and heat it.",
+    "scene_03__A004/seq__599af4209f9b393da8fa__2023-04-22-19-33-09": "Shake the conical flask and heat it.",
+    "scene_03__A004/seq__11cb7b777e42709b6f08__2023-04-22-19-35-01": "Heat the conical flask and put off the alcohol burner after heating.",
+    "scene_03__A004/seq__85abe9be20dc1401359b__2023-04-22-19-37-32": "Heat the test tube and put off the alcohol burner after heating.",
+    "scene_03__A004/seq__3336916e549e83db1d07__2023-04-22-19-39-24": "Ignite the alcohol burner and then put off the alcohol burner.",
+    "scene_03__A004/seq__beb8fa60acb6693c34ff__2023-04-22-19-42-37": "Put off the alcohol burner and pour the heated experiment substances into the test tube.",
+    "scene_03__A004/seq__a950e9cd7163f606ea0b__2023-04-22-19-44-42": "Put off the alcohol burner and stir the heated experiment substances.",
+    "scene_03__A004/seq__e98067a2336ade7d2edc__2023-04-22-19-50-20": "Heat the test tube, put off the alcohol burner after heating, and shake the test tube.",
+    "scene_03__A004/seq__667dd3e0c94947396317__2023-04-22-19-52-38": "Put off the alcohol burner and shake the conical flask after heating.",
+    "scene_03__A004/seq__f25e354e1a4d821c6388__2023-04-22-19-56-14": "Heat the beaker and stir experiment substances while heating.",
+    "scene_03__A004/seq__37c5d9dee2211548007b__2023-04-22-20-13-50": "Place the asbestos mesh for heating and heat the beaker.",
+    "scene_03__A004/seq__a779dab47a0fea5af26e__2023-04-22-20-16-22": "Ignite the alcohol burner and heat the conical flask.",
+    "scene_03__A004/seq__d8f7706647ace123df37__2023-04-22-20-19-15": "Ignite the alcohol burner and heat the test tube.",
+    "scene_03__A004/seq__acc89e84f8c0f3db3525__2023-04-22-20-22-40": "Pour experiment substances into the test tube, shake the test tube, and heat the test tube.",
+    "scene_03__A004/seq__419a3a06276de7db2371__2023-04-22-20-25-48": "Stir experiment substances in the beaker, pour experiment substances into the test tube, and shake the test tube.",
+    "scene_03__A004/seq__6490867837c3654b8150__2023-04-22-20-28-38": "Ignite the alcohol burner for heating, heat the beaker, and put off the alcohol burner after heating.",
+    "scene_03__A004/seq__70bf7db171a7430a59a3__2023-04-22-20-30-56": "Ignite the alcohol burner for heating, heat test tube, and put off the alcohol burner after heating.",
+    "scene_03__A004/seq__cf9b2eeea82d3a0ccfdc__2023-04-22-20-33-49": "Place the asbestos mesh for heating, ignite the alcohol burner, and heat the beaker.",
+    "scene_03__A004/seq__e284d16eb46265375a36__2023-04-22-20-35-57": "Ignite the alcohol burner, heat the beaker, and stir experiment substances while heating.",
+    "scene_03__A004/seq__dd7fe851e3065043361f__2023-04-22-20-38-45": "Ignite the alcohol burner, heat the test tube, and shake the test tube after heating.",
+    "scene_03__A004/seq__6ece6fbebb2067474253__2023-04-22-20-42-59": "Pour experiment substances into one test tube, pour experiment substances between the test tubes, and pour experiment substances back between the test tubes.",
+    "scene_03__A004/seq__897a4742e7e787a11b08__2023-04-22-20-46-30": "Pour experiment substances into the test tube, shake the test tube, and pour the mixed experiment substances into another test tube.",
+    "scene_03__A004/seq__e177c5412c3306d7d46b__2023-04-26-18-21-01": "Stir experiment substances in the beaker, place the asbestos mesh for heating, and heat the beaker.",
+    "scene_03__A004/seq__facbce031fe123b84569__2023-04-26-18-25-35": "Prepare solution in the beaker through heating the components in the test tube.",
+    "scene_03__A004/seq__a534562c360e83490669__2023-04-26-18-29-08": "Shake the test tube, heat the test tube, and pour experiment substances between the heated test tube and the beaker.",
+    "scene_03__A004/seq__9523ffa206757aa7c07c__2023-04-26-18-34-29": "Prepare solution in the test tube through heating and stirring the components in the beaker.",
+    "scene_03__A004/seq__81a953a8e44603fbe7cb__2023-04-26-18-39-34": "Heat experiment substances in the beaker, and then pour the heated experiment substances into the test tube.",
+    "scene_03__A004/seq__dee46deb1c028e704b73__2023-04-26-18-43-32": "Heat experiment substances in the beaker, and then stir the heated experiment substances to mix up.",
+    "scene_03__A004/seq__f5a3d2061cdb3e4516dc__2023-04-26-18-48-39": "Ignite alcohol burner, heat the test tube, put off the alcohol burner, and shake the test tube.",
+    "scene_03__A004/seq__17ab738d0fb102d44f3a__2023-04-26-18-52-02": "Pour experiment substances into the test tube, stir experiment substances in the beaker, and pour more experiment substances into the test tube.",
+    "scene_03__A005/seq__e53a4037a875f96a13c6__2023-04-20-10-57-00": "Heat the beaker.",
+    "scene_03__A005/seq__c82ad3f7e88d2909cbf5__2023-04-20-10-59-13": "Ignite the alcohol burner.",
+    "scene_03__A005/seq__22c9ea29ee39cada84df__2023-04-20-10-45-54": "Pour experiment substances between the beaker and the test tube.",
+    "scene_03__A005/seq__278a684018f1f1d1a189__2023-04-25-20-09-41": "Pour experiment substances from the beaker to one test tube, pour experiment substances between the test tubes for three times, and then pour experiment substances from both test tubes into the beaker.",
+    "scene_03__A005/seq__d77d9efac31d9619bb67__2023-04-20-10-42-55": "Pour experiment substances between the beaker and the test tube.",
+    "scene_03__A005/seq__a4082b2fec444936befc__2023-04-20-11-01-13": "Put off the alcohol burner.",
+    "scene_03__A005/seq__2563de55f3b52ba7fe24__2023-04-25-19-54-19": "Stir and transfer liquid.",
+    "scene_03__A005/seq__d45dc67fb953e353e0e1__2023-04-20-10-51-39": "Shake the test tube.",
+    "scene_03__A005/seq__9f9eec1940e610d713ee__2023-04-20-10-49-43": "Stir experiment substances in the beaker.",
+    "scene_03__A007/seq__c56852334cd7ee5ec868__2023-04-21-09-37-08": "Prepare solution in the beaker through heating and stirring the components.",
+    "scene_03__A007/seq__1c03f4a45689cf1478c5__2023-04-21-09-40-51": "Prepare solution in the conical flask through heating and stirring the components in the beaker.",
+    "scene_03__A007/seq__211a2995b00d0ea95996__2023-04-21-09-45-45": "Prepare solution in the conical flask through heating the components in the test tube.",
+    "scene_03__A007/seq__38754d477e531bf5aa62__2023-04-21-09-50-42": "Prepare solution in the conical flask through heating the components in the test tube.",
+    "scene_03__A007/seq__7fa33d1d7f45d3177549__2023-04-19-11-07-05": "Pour experiment substances into the test tube and shake the test tube.",
+    "scene_03__A007/seq__71249a288dcbc7de02a5__2023-04-19-11-24-41": "Pour experiment substances between the test tubes twice.",
+    "scene_03__A007/seq__b4fca9769ed69768fdcd__2023-04-19-11-27-31": "Pour experiment substances into the test tube and heat the test tube.",
+    "scene_03__A007/seq__43581fd7e57e148306e4__2023-04-19-11-29-48": "Pour experiment substances into the test tube and ignite alcohol burner for heating.",
+    "scene_03__A007/seq__b4d4456ced6f3803440c__2023-04-19-11-32-19": "Stir experiment substances in the beaker and pour the mixed experiment substances into the test tube.",
+    "scene_03__A007/seq__fac912c78b870666a08a__2023-04-19-11-35-35": "Stir experiment substances in the beaker and then heat the beaker.",
+    "scene_03__A007/seq__ab61c6cc82144a234089__2023-04-19-11-38-56": "Shake the test tube and pour experiment substances into another test tube.",
+    "scene_03__A007/seq__847bac7674f4586680bd__2023-04-19-11-41-52": "Shake the test tube and heat it.",
+    "scene_03__A007/seq__ff220c4666f169c19334__2023-04-19-11-43-56": "Shake the test tube and heat it.",
+    "scene_03__A007/seq__7e7aa43a16d7e7db01c6__2023-04-20-14-28-51": "Heat the beaker and put off the alcohol burner after heating.",
+    "scene_03__A007/seq__ae89aea7cffe28d72f11__2023-04-20-14-32-48": "Heat the test tube and put off the alcohol burner after heating.",
+    "scene_03__A007/seq__3da1c0d65ae209028cb1__2023-04-20-14-36-16": "Heat the test tube and put off the alcohol burner after heating.",
+    "scene_03__A007/seq__f72edc4492dbc0cef7e9__2023-04-20-14-45-08": "Ignite the alcohol burner and then put off the alcohol burner.",
+    "scene_03__A007/seq__494ca08cc4bc8ec2ccba__2023-04-20-14-49-35": "Put off the alcohol burner and pour the heated experiment substances into the test tube.",
+    "scene_03__A007/seq__040ca5dc93b15256e8bf__2023-04-20-14-56-43": "Put off the alcohol burner and stir the heated experiment substances.",
+    "scene_03__A007/seq__606948d0c32e5f88cab5__2023-04-20-15-20-17": "Put off the alcohol burner and shake the conical flask after heating.",
+    "scene_03__A007/seq__15642db4d1b65d2d366b__2023-04-20-15-17-47": "Heat the beaker and stir experiment substances while heating.",
+    "scene_03__A007/seq__b379133add535ba8d4a3__2023-04-20-15-45-42": "Place the asbestos mesh for heating and heat the beaker.",
+    "scene_03__A007/seq__2ddc8259370decb8672e__2023-04-20-15-30-01": "Pour experiment substances into the test tube, shake the test tube, and then heat the test tube.",
+    "scene_03__A007/seq__cffb94f7d9de086d3604__2023-04-20-15-33-14": "Stir experiment substances in the beaker, pour the mixed experiment substances into the test tube, and then shake the test tube.",
+    "scene_03__A007/seq__a3950640d3f4031a9c8c__2023-04-20-15-36-57": "Ignite the alcohol burner for heating, heat the beaker, and put off the alcohol burner after heating.",
+    "scene_03__A007/seq__824966397a38080ca844__2023-04-20-15-39-19": "Ignite the alcohol burner for heating, heat the test tube, and put off the alcohol burner after heating.",
+    "scene_03__A007/seq__3680e9111f1211099630__2023-04-20-15-47-28": "Place the asbestos mesh for heating, ignite the alcohol burner, and heat the beaker.",
+    "scene_03__A007/seq__cf2f1ac93b0f3ef6c6fa__2023-04-20-15-50-45": "Ignite the alcohol burner for heating, heat the beaker, and stir experiment substances while heating.",
+    "scene_03__A007/seq__ebd7071da8d0ac1af706__2023-04-20-15-54-43": "Ignite the alcohol burner, heat the test tube, and shake the test tube after heating.",
+    "scene_03__A007/seq__be6fa80f2e90344ced79__2023-04-20-16-14-13": "Pour experiment substances between the test tubes, shake the test tube, and pour experiment substances back between the test tubes.",
+    "scene_03__A007/seq__a3a31b0647ce1d79d4b6__2023-04-20-16-18-01": "Pour experiment substances into the test tube, shake the test tube, and pour the mixed experiment substances back into the beaker.",
+    "scene_03__A007/seq__233b93f6f9e224aca442__2023-04-20-16-27-10": "Stir experiment substances in the beaker, place the asbestos mesh, and then heat the beaker.",
+    "scene_03__A007/seq__1c5d6079fefe79cd077d__2023-04-20-16-30-36": "Shake the beaker, pour the mixed experiment substances into the test tube, and heat the test tube.",
+    "scene_03__A007/seq__8adcc1379950452e8b43__2023-04-20-16-34-32": "Prepare the reactants by heating in the test tube, and transfer them to the beaker for the reaction.",
+    "scene_03__A007/seq__41d8394b4defeec0ad76__2023-04-20-16-41-15": "Heat the beaker, stir the heated experiment substances, and pour the mixed experiment substances into the test tube.",
+    "scene_03__A007/seq__639d4665846c3affb1cc__2023-04-20-16-44-08": "Heat the beaker, put off the alcohol burner after heating, and pour the heated experiment substances into the test tube.",
+    "scene_03__A007/seq__bbefcdd1829a20da8690__2023-04-20-16-46-22": "Heat the beaker, put off the alcohol burner after heating, and stir the heated experiment substances.",
+    "scene_03__A007/seq__d7a44b718fe2255fd66e__2023-04-20-16-50-37": "Heat the test tube, put off the alcohol burner after heating, and shake the heated test tube.",
+    "scene_03__A007/seq__a78a0fbbf252b529d85c__2023-04-21-09-23-18": "Put off the alcohol burner, pour the heated experiment substances into the test tube, and shake the test tube.",
+    "scene_03__A007/seq__d6fe3d7a900337a7efc5__2023-04-21-09-25-27": "Put off the alcohol burner, stir the heated experiment substances, and transfer the mixed experiment substances.",
+    "scene_03__A007/seq__904b258c24a569104cfd__2023-04-20-16-22-20": "Pour experiment substances into the beaker, stir experiment substances, and pour the mixed experiment substances back into the test tube.",
+    "scene_03__A007/seq__8dc850cde33bfcf5a096__2023-04-19-10-53-08": "Ignite the alcohol burner and heat the beaker.",
+    "scene_03__A007/seq__cfcc809e6a13f0d37c85__2023-04-19-10-56-05": "Ignite the alcohol burner and heat the beaker.",
+    "scene_03__A007/seq__29c5832dbc263a424a19__2023-04-20-14-43-10": "Heat the beaker.",
+    "scene_03__A007/seq__030e304a9813d85ae4b9__2023-04-19-11-00-23": "Ignite the alcohol burner and heat the test tube.",
+    "scene_03__A007/seq__28f0e685273ac07a26d8__2023-04-20-14-40-03": "Heat the test tube.",
+    "scene_03__A007/seq__c6e4ccbdd4e80572db97__2023-04-19-11-03-02": "Ignite the alcohol burner.",
+    "scene_03__A007/seq__384b1f11cfff348ec215__2023-04-19-10-39-36": "Pour experiment substances between the beaker and the test tube.",
+    "scene_03__A007/seq__863d581916dab5aedf8d__2023-04-19-10-43-36": "Pour experiment substances between the beaker and the test tube.",
+    "scene_03__A007/seq__e49f5ececafb957d3671__2023-04-19-11-03-53": "Put off the alcohol burner.",
+    "scene_03__A007/seq__9f2cba19af8ca0b0bf98__2023-04-19-11-23-20": "Shake the test tube.",
+    "scene_03__A007/seq__a41a34ed89fef1760486__2023-04-20-15-42-09": "Place the asbestos mesh for heating.",
+    "scene_03__A007/seq__cde365a9ea4646fefe6f__2023-04-19-10-46-32": "Stir experiment substances.",
+    "scene_03__A007/seq__9d98fb4b811e27f5f9ed__2023-04-19-10-48-13": "Stir experiment substances.",
+    "scene_03__A007/seq__d4caf5e54f1c91438b57__2023-05-15-20-39-39": "Prepare solution in the beaker by mixing up three different components.",
+    "scene_03__A007/seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31": "Prepare solution in the beaker through heating.",
+    "scene_03__A007/seq__39e5ee70d56b9e9652da__2023-05-15-20-24-49": "Prepare solution in the beaker through heating components in the conical flask and mixing two components.",
+    "scene_03__A008/seq__667a8e2bc0c080980b80__2023-05-09-19-58-57": "Heat the reactants in the beaker for reaction.",
+    "scene_03__A008/seq__5ce6928c6c155eaf147f__2023-04-23-10-52-50": "Heat the beaker.",
+    "scene_03__A008/seq__e626d4fa0c73c5198a59__2023-04-23-11-16-48": "Heat the test tube.",
+    "scene_03__A008/seq__3e29caad5ac0039856bf__2023-04-23-11-19-11": "Ignite the alcohol burner.",
+    "scene_03__A008/seq__122ba05c0cbf110ec037__2023-04-23-10-45-36": "Pour experiment substances between the beaker and the test tube.",
+    "scene_03__A008/seq__b4a4e494d33cfd68e95f__2023-04-23-10-43-46": "Pour experiment substances between the beaker and the test tube.",
+    "scene_03__A008/seq__897d8d92079129f4dcda__2023-04-23-11-21-25": "Put off the alcohol burner.",
+    "scene_03__A008/seq__ed9bccd4e58ae94decb6__2023-04-23-10-50-05": "Shake the test tube.",
+    "scene_03__A008/seq__0920ef008fac6fefdd88__2023-04-23-11-23-08": "Place the asbestos mesh for heating.",
+    "scene_03__A008/seq__c2f83e010631028090be__2023-04-23-10-48-01": "Stir experiment substances.",
+    "scene_04__A001/seq__1b46da0a2670ac31842a__2023-04-27-19-50-59": "Squeeze tooth paste and place tooth brush in place.",
+    "scene_04__A001/seq__24d76506f00b476483ec__2023-04-27-19-49-01": "Squeeze tooth paste.",
+    "scene_04__A001/seq__604ecac09194007a0d1b__2023-04-27-19-50-10": "Place tooth brush in place for brushing.",
+    "scene_04__A004/seq__eb95751017ecdcf1942d__2023-04-26-19-01-08": "Prepare for teeth brushing.",
+    "scene_04__A004/seq__f7817277459e9a992723__2023-04-26-18-57-36": "Squeeze tooth paste.",
+    "scene_04__A004/seq__76fd939dff16583c7c6d__2023-04-26-18-58-48": "Place tooth brush in place after brushing.",
+    "scene_04__A004/seq__9ae13d2f06c32b3e7498__2023-04-26-18-59-36": "Place tooth brush in place for brushing.",
+    "scene_04__A005/seq__5d49e661a8fd8b21f4e1__2023-04-25-20-21-13": "Prepare for teeth brushing.",
+    "scene_04__A005/seq__8371a637b35c6a90c30d__2023-04-20-11-05-13": "Squeeze tooth paste.",
+    "scene_04__A005/seq__d41bc19324e0d1ed05c3__2023-04-20-11-07-09": "Squeeze tooth paste.",
+    "scene_04__A005/seq__c80df7bc6d12b566098a__2023-04-20-11-10-33": "Place tooth brush in place for brushing.",
+    "scene_04__A005/seq__a669eeccd80db095295d__2023-04-20-11-11-18": "Place tooth brush in place after brushing.",
+    "scene_04__A007/seq__ca28822445da7795e0c4__2023-04-20-15-25-20": "Prepare for teeth brushing.",
+    "scene_04__A007/seq__3841334c17e591cb9968__2023-04-19-10-32-34": "Squeeze tooth paste.",
+    "scene_04__A007/seq__34a4767e23bc531475c4__2023-04-19-10-34-34": "Place tooth brush in place for brushing.",
+    "scene_04__A007/seq__a4cf2a5ebe1053befdce__2023-04-19-10-35-51": "Place tooth brush in place after brushing.",
+    "scene_04__A008/seq__f93352845016c27d0fdc__2023-05-09-19-52-25": "Prepare for teeth brushing.",
+    "scene_04__A008/seq__547675de3c1d37a85a09__2023-04-23-11-27-15": "Squeeze tooth paste.",
+    "scene_04__A008/seq__ff070467cd91f735acab__2023-04-23-11-28-29": "Place tooth brush in place for brushing."
+}
\ No newline at end of file