[
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        "episode_id": 657874,
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            "action_config": [
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 657998,
        "task_id": 358,
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    {
        "episode_id": 658013,
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        "episode_id": 658043,
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    {
        "episode_id": 658070,
        "task_id": 358,
        "task_name": "Toast bread",
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        "episode_id": 658138,
        "task_id": 358,
        "task_name": "Toast bread",
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    {
        "episode_id": 658152,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 658163,
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        "episode_id": 658179,
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        "episode_id": 658859,
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        "episode_id": 658954,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 886,
                    "end_frame": 1377,
                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659165,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 295,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1062,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 659195,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 959,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 659219,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 1032,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 659275,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 659291,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 659363,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 855,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 659380,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 659394,
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        "task_name": "Toast bread",
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    {
        "episode_id": 659428,
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    {
        "episode_id": 662403,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 662436,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 662448,
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        "task_name": "Toast bread",
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        "episode_id": 662459,
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        "task_name": "Toast bread",
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        "episode_id": 662495,
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        "episode_id": 662513,
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        "task_name": "Toast bread",
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    {
        "episode_id": 662524,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 662545,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 662560,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 702,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 901,
                    "end_frame": 1136,
                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
                    "skill": "Place"
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                {
                    "start_frame": 1136,
                    "end_frame": 1670,
                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662567,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 347,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 347,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 901,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1165,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
    },
    {
        "episode_id": 662584,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 284,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1069,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
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    {
        "episode_id": 662594,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 308,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 308,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1021,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    },
    {
        "episode_id": 662618,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 304,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1039,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 662633,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 261,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 1077,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 662646,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 353,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 1012,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 662662,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 246,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 979,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 662673,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 957,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 662680,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 943,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 663023,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 1002,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 663033,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663040,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 835,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 663056,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663072,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 663086,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 663106,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663119,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 663140,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 241,
                    "end_frame": 539,
                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
                    "skill": "Place"
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                {
                    "start_frame": 539,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 670,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
                    "skill": "Place"
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                {
                    "start_frame": 1003,
                    "end_frame": 1474,
                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663152,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1113,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
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    },
    {
        "episode_id": 663166,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 888,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663731,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 1014,
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                    "action_text": "Press the green toaster start button with both arms.",
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            "key_frame": [
                {
                    "start": 1014,
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                    "description": ""
                }
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    },
    {
        "episode_id": 663752,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663810,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 845,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663832,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 901,
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    {
        "episode_id": 663857,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 230,
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                    "start_frame": 1005,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663877,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 663940,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 1171,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 663964,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 664000,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 664008,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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    {
        "episode_id": 664023,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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        "episode_id": 664038,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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        "episode_id": 664047,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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        "episode_id": 664057,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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        "episode_id": 664068,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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    {
        "episode_id": 664076,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 664096,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 664117,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 664145,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 664174,
        "task_id": 358,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 664184,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 664264,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 664351,
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        "episode_id": 664433,
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    {
        "episode_id": 665346,
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    {
        "episode_id": 668660,
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    {
        "episode_id": 668694,
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    {
        "episode_id": 668709,
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        "episode_id": 668756,
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        "episode_id": 668774,
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        "episode_id": 668802,
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        "episode_id": 668854,
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        "episode_id": 668885,
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                    "start_frame": 800,
                    "end_frame": 1343,
                    "action_text": "Press the green toaster start button with both arms.",
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            "key_frame": [
                {
                    "start": 800,
                    "end": 1343,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 668901,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 243,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                {
                    "start_frame": 442,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 651,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 843,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 669173,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 300,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1001,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 669203,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 1352,
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    {
        "episode_id": 669234,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 879,
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    {
        "episode_id": 669262,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 836,
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    {
        "episode_id": 669276,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 741,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 669304,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 758,
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    {
        "episode_id": 669321,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 654803,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 268,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
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                    "start_frame": 846,
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    {
        "episode_id": 654839,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 654883,
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    {
        "episode_id": 654946,
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    {
        "episode_id": 654958,
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    {
        "episode_id": 654995,
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        "episode_id": 655038,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 655108,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 655122,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 655157,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 243,
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                {
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                    "action_text": "Press the white toaster start button with both arms.",
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        }
    },
    {
        "episode_id": 655175,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 655232,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 655285,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 655304,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 655320,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 1009,
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    {
        "episode_id": 655332,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 655344,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 655367,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 655385,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 655399,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 655413,
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    {
        "episode_id": 655464,
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    {
        "episode_id": 655482,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 655498,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 655509,
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    {
        "episode_id": 655523,
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    {
        "episode_id": 655537,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 586,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 791,
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                    "action_text": "Press the white toaster start button with both arms.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659615,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 841,
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    {
        "episode_id": 659662,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 659687,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 659735,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 660259,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 660303,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 660324,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 660339,
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    {
        "episode_id": 660372,
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    {
        "episode_id": 660418,
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        "episode_id": 660429,
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        "episode_id": 660454,
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        "episode_id": 660470,
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        "episode_id": 660491,
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        "episode_id": 660547,
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        "episode_id": 660585,
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        "episode_id": 660601,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 660618,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 220,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 784,
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                    "action_text": "Press the white toaster start button with both arms.",
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            ],
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        }
    },
    {
        "episode_id": 660632,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 660649,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 660713,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 660749,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 660785,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 660811,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 660825,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 660839,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 772,
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    {
        "episode_id": 660866,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 660876,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 660891,
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    {
        "episode_id": 660913,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 660937,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 660953,
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        "episode_id": 660966,
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        "episode_id": 660982,
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    {
        "episode_id": 660995,
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                    "start_frame": 541,
                    "end_frame": 780,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
                    "skill": "Place"
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                {
                    "start_frame": 780,
                    "end_frame": 1355,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661011,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 259,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 259,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 669,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 895,
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                    "action_text": "Press the white toaster start button with both arms.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 661023,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 219,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 852,
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                    "action_text": "Press the white toaster start button with both arms.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 661032,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                    "start_frame": 927,
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                    "action_text": "Press the white toaster start button with both arms.",
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                {
                    "start": 927,
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                    "description": ""
                }
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    },
    {
        "episode_id": 661045,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 818,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 661064,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 850,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 661076,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 231,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                    "start_frame": 905,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 661087,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 746,
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    {
        "episode_id": 661118,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 811,
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    {
        "episode_id": 661132,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 661143,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 661171,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 661187,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 661198,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 661209,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 661268,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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        "episode_id": 661284,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 661299,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 661315,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 189,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 189,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 709,
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                    "action_text": "Press the white toaster start button with both arms.",
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        }
    },
    {
        "episode_id": 661361,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 225,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 661421,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 681882,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 10,
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                    "action_text": "Lift a piece of white toaster from the basket with the left arm.",
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                    "action_text": "Insert the white toaster held by the left arm into the empty slot behind whole wheat toast.",
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                    "action_text": "Lift a piece of white toaster from the basket with the left arm.",
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    {
        "episode_id": 681888,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of white toaster from the basket with the left arm.",
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                    "action_text": "Press the whole wheat toast start button with both arms.",
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    {
        "episode_id": 681896,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 21,
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                    "start_frame": 503,
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    {
        "episode_id": 681906,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift a piece of white toaster from the basket with the left arm.",
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                    "action_text": "Place the white toaster held in the left arm into the empty slot in front of whole wheat toast.",
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        "episode_id": 681924,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 681931,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 16,
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        "episode_id": 681937,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 681948,
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        "episode_id": 681964,
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        "episode_id": 681973,
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        "episode_id": 681985,
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        "episode_id": 682004,
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        "episode_id": 682015,
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    {
        "episode_id": 682022,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 414,
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                    "action_text": "Place the white toaster held in the left arm into the empty slot in front of whole wheat toast.",
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                {
                    "start_frame": 524,
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                    "action_text": "Press the whole wheat toast start button with both arms.",
                    "skill": "PressButton"
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            ],
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        }
    },
    {
        "episode_id": 682028,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of white toaster from the basket with the left arm.",
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    {
        "episode_id": 682037,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 682045,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 682055,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 682064,
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    {
        "episode_id": 682079,
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        "task_name": "Toast bread",
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    {
        "episode_id": 682083,
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        "task_name": "Toast bread",
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        "episode_id": 682095,
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        "episode_id": 682108,
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        "episode_id": 682116,
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        "episode_id": 682126,
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        "episode_id": 682132,
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        "episode_id": 682141,
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        "episode_id": 682213,
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                    "action_text": "Insert the white toaster held by the left arm into the empty slot behind whole wheat toast.",
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                {
                    "start_frame": 254,
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                    "action_text": "Lift a piece of white toaster from the basket with the left arm.",
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                    "action_text": "Place the white toaster held in the left arm into the empty slot in front of whole wheat toast.",
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                    "action_text": "Press the whole wheat toast start button with both arms.",
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    },
    {
        "episode_id": 682223,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 682234,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start": 539,
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    {
        "episode_id": 682245,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 669530,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 0,
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    {
        "episode_id": 669992,
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        "episode_id": 670006,
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        "episode_id": 670030,
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        "episode_id": 670124,
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        "episode_id": 670143,
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        "episode_id": 670151,
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        "episode_id": 670167,
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        "episode_id": 670203,
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        "episode_id": 670264,
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        "episode_id": 670303,
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        "episode_id": 670505,
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    {
        "episode_id": 670519,
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                    "start_frame": 0,
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        "episode_id": 670531,
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        "task_name": "Toast bread",
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        "episode_id": 670544,
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        "episode_id": 670566,
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        "episode_id": 670592,
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        "episode_id": 670615,
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        "task_name": "Toast bread",
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        "episode_id": 670628,
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        "episode_id": 670655,
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        "episode_id": 670672,
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        "episode_id": 670702,
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        "episode_id": 674673,
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        "episode_id": 674712,
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    {
        "episode_id": 675490,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 675517,
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        "episode_id": 675994,
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        "episode_id": 676015,
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        "episode_id": 676027,
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        "episode_id": 676276,
        "task_id": 358,
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        "episode_id": 676286,
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        "episode_id": 677063,
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        "episode_id": 677138,
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        "episode_id": 677334,
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                    "action_text": "Press the whole wheat toast start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": [
                {
                    "start": 623,
                    "end": 881,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 680704,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 292,
                    "action_text": "Lift a piece of green toaster from the basket with the left arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 472,
                    "action_text": "Insert the green toaster held by the left arm into the empty slot behind whole wheat toast.",
                    "skill": "Place"
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                {
                    "start_frame": 472,
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                    "action_text": "Lift a piece of green toaster from the basket with the left arm.",
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                {
                    "start_frame": 738,
                    "end_frame": 970,
                    "action_text": "Place the green toaster held in the left arm into the empty slot in front of whole wheat toast.",
                    "skill": "Place"
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                {
                    "start_frame": 970,
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                    "action_text": "Press the whole wheat toast start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687935,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 195,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 195,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                {
                    "start_frame": 326,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 489,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
                    "skill": "Place"
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                {
                    "start_frame": 632,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
    },
    {
        "episode_id": 687948,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 209,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 693,
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                    "action_text": "Press the green toaster start button with both arms.",
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        }
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    {
        "episode_id": 687959,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 767,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 687966,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 693,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 687973,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 562,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 750,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 687983,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 214,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 765,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 687988,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
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                    "start_frame": 11,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 698,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 687998,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 7,
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                    "start_frame": 762,
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    {
        "episode_id": 688005,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688035,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688045,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "description": ""
                }
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    {
        "episode_id": 688051,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688060,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "description": ""
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    {
        "episode_id": 688068,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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        "episode_id": 688071,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688081,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688089,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 453,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 668,
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                    "action_text": "Press the green toaster start button with both arms.",
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    },
    {
        "episode_id": 688097,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 688102,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 688113,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688124,
        "task_id": 358,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 688133,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 688144,
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    {
        "episode_id": 688149,
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        "episode_id": 688158,
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        "episode_id": 688165,
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        "episode_id": 688170,
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        "episode_id": 688179,
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        "episode_id": 688186,
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        "episode_id": 688193,
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        "episode_id": 688199,
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        "episode_id": 688211,
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        "episode_id": 688223,
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        "episode_id": 688231,
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        "episode_id": 688239,
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                {
                    "start_frame": 138,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind green toaster.",
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                {
                    "start_frame": 284,
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                {
                    "start_frame": 407,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 571,
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                    "action_text": "Press the green toaster start button with both arms.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688244,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 610,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 688259,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 572,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 688266,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688278,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688282,
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        "task_name": "Toast bread",
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                    "start": 174,
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    {
        "episode_id": 688291,
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                    "start_frame": 683,
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    {
        "episode_id": 688298,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 688310,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 688316,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 688323,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 688333,
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        "episode_id": 688339,
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        "episode_id": 688353,
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        "episode_id": 688359,
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    {
        "episode_id": 688365,
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    {
        "episode_id": 686921,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 686930,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 686938,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 192,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 712,
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                    "action_text": "Press the white toaster start button with both arms.",
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                {
                    "start": 712,
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                    "description": ""
                }
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    },
    {
        "episode_id": 686946,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 686966,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 686973,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 686988,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 686995,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 687004,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 687011,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 687018,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 687032,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 687039,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 687050,
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        "episode_id": 687062,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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    {
        "episode_id": 687074,
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        "episode_id": 687081,
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        "episode_id": 687104,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 687110,
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        "episode_id": 687119,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
                    "start_frame": 869,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687128,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
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                {
                    "start_frame": 811,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687134,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                {
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687145,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687151,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687173,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687184,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 918,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687188,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
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                    "start_frame": 35,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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    {
        "episode_id": 687216,
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    {
        "episode_id": 687231,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 833,
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    {
        "episode_id": 687238,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 49,
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                    "start": 827,
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        "episode_id": 687257,
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        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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        "episode_id": 687265,
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    {
        "episode_id": 687286,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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        "episode_id": 687296,
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        "episode_id": 687303,
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        "episode_id": 687316,
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        "episode_id": 687746,
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    {
        "episode_id": 687754,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 444,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 615,
                    "end_frame": 826,
                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1188,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687763,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 170,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 170,
                    "end_frame": 360,
                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 360,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 535,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 720,
                    "end_frame": 1145,
                    "action_text": "Press the white toaster start button with both arms.",
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            "key_frame": [
                {
                    "start": 720,
                    "end": 1145,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 687773,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 218,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 218,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 578,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 792,
                    "end_frame": 1096,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 687781,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 216,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 216,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 378,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 534,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 725,
                    "end_frame": 1063,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
    },
    {
        "episode_id": 687789,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 202,
                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 202,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 362,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 521,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 729,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687800,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 205,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                    "start_frame": 695,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687804,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 165,
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                    "action_text": "Insert the plain toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 497,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 640,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687814,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 92,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 308,
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                    "start_frame": 853,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687824,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "action_text": "Place the plain toast held in the left arm into the empty slot in front of white toaster.",
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                    "start_frame": 794,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687846,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                {
                    "start_frame": 780,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687855,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 786,
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    {
        "episode_id": 687863,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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                    "start_frame": 22,
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                    "start_frame": 740,
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 687874,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                {
                    "start_frame": 0,
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                    "action_text": "Lift a piece of plain toast from the basket with the left arm.",
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                    "start_frame": 785,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683083,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 4,
                    "end_frame": 160,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 160,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "start_frame": 280,
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                    "skill": "Place"
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                {
                    "start_frame": 729,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 683115,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 15,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 683121,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "skill": "PressButton"
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    {
        "episode_id": 683130,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 683141,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 683153,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 145,
                    "end_frame": 257,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 257,
                    "end_frame": 403,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 403,
                    "end_frame": 564,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 564,
                    "end_frame": 791,
                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683158,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 4,
                    "end_frame": 177,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 177,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "start_frame": 321,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 461,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 598,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683168,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 149,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 422,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 591,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
    },
    {
        "episode_id": 683178,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 152,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "start_frame": 403,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 529,
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                    "action_text": "Press the green toaster start button with both arms.",
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        }
    },
    {
        "episode_id": 683186,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 173,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 555,
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                    "action_text": "Press the green toaster start button with both arms.",
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        }
    },
    {
        "episode_id": 683195,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 588,
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                    "action_text": "Press the green toaster start button with both arms.",
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        }
    },
    {
        "episode_id": 683207,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 203,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "start_frame": 522,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 708,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 683215,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 168,
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                    "start_frame": 270,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 537,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 683222,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 446,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 586,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683236,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 465,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 615,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
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    {
        "episode_id": 683242,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 605,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683247,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 616,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683260,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 557,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683270,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 551,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683281,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 620,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
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    {
        "episode_id": 683293,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 14,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "skill": "PressButton"
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    {
        "episode_id": 683299,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683311,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 2,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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        }
    },
    {
        "episode_id": 683319,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 182,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 521,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 681,
                    "end_frame": 903,
                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683326,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 201,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "start_frame": 329,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 511,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 681,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683339,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 195,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                {
                    "start_frame": 318,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 477,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 639,
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                    "action_text": "Press the green toaster start button with both arms.",
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        }
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    {
        "episode_id": 683347,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 175,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 533,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 704,
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                    "action_text": "Press the green toaster start button with both arms.",
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        }
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    {
        "episode_id": 683355,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "start_frame": 535,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 685,
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                    "action_text": "Press the green toaster start button with both arms.",
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                {
                    "start": 685,
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                    "description": ""
                }
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    {
        "episode_id": 683366,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 163,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 418,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 577,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 683383,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 164,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind green toaster.",
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 444,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 607,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 683394,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
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            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                    "start_frame": 597,
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                    "action_text": "Press the green toaster start button with both arms.",
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    {
        "episode_id": 683405,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 590,
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    {
        "episode_id": 683412,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
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                    "start_frame": 171,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of green toaster.",
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                {
                    "start_frame": 680,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 683425,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 650,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 683437,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 599,
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                    "action_text": "Press the green toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 683445,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 594,
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    {
        "episode_id": 683461,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 12,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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    {
        "episode_id": 683466,
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        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "description": ""
                }
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    {
        "episode_id": 682474,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 25,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 165,
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                    "skill": "Place"
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                    "start_frame": 580,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 682480,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 561,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 682487,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
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                    "start_frame": 404,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 537,
                    "end_frame": 846,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682497,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 168,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 168,
                    "end_frame": 291,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 291,
                    "end_frame": 433,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 433,
                    "end_frame": 590,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
                    "skill": "Place"
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                {
                    "start_frame": 590,
                    "end_frame": 846,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682506,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 187,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 187,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 283,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 458,
                    "end_frame": 591,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 591,
                    "end_frame": 866,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682523,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 144,
                    "end_frame": 233,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 233,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 388,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 508,
                    "end_frame": 775,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682529,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 151,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 151,
                    "end_frame": 254,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                {
                    "start_frame": 254,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 393,
                    "end_frame": 572,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 572,
                    "end_frame": 929,
                    "action_text": "Press the white toaster start button with both arms.",
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            "key_frame": [
                {
                    "start": 572,
                    "end": 929,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 682539,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 227,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 227,
                    "end_frame": 351,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 351,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 505,
                    "end_frame": 651,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 651,
                    "end_frame": 998,
                    "action_text": "Press the white toaster start button with both arms.",
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            "key_frame": [
                {
                    "start": 651,
                    "end": 998,
                    "description": ""
                }
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        }
    },
    {
        "episode_id": 682545,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 166,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 304,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 454,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 595,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            ],
            "key_frame": []
        }
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    {
        "episode_id": 682555,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 161,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 300,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 467,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 608,
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                    "action_text": "Press the white toaster start button with both arms.",
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        }
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    {
        "episode_id": 682561,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 161,
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                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
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                    "start_frame": 268,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 440,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 551,
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                    "action_text": "Press the white toaster start button with both arms.",
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        }
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    {
        "episode_id": 682571,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                {
                    "start_frame": 158,
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                    "start_frame": 275,
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                {
                    "start_frame": 437,
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                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
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                {
                    "start_frame": 579,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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        }
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    {
        "episode_id": 682577,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 147,
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                {
                    "start_frame": 498,
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                    "action_text": "Press the white toaster start button with both arms.",
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        }
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    {
        "episode_id": 682593,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 261,
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                    "start_frame": 391,
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                    "skill": "Place"
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                {
                    "start_frame": 508,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
    },
    {
        "episode_id": 682603,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 311,
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                    "start_frame": 482,
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                    "skill": "Place"
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                {
                    "start_frame": 688,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
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    {
        "episode_id": 682611,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 455,
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                    "start_frame": 596,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 682620,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
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    {
        "episode_id": 682629,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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    {
        "episode_id": 682638,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 5,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 565,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
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    {
        "episode_id": 682655,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
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                    "start_frame": 9,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                    "start_frame": 514,
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                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
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            "key_frame": []
        }
    },
    {
        "episode_id": 682665,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
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                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
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                },
                {
                    "start_frame": 168,
                    "end_frame": 286,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 286,
                    "end_frame": 404,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 404,
                    "end_frame": 525,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 525,
                    "end_frame": 782,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682675,
        "task_id": 358,
        "task_name": "Toast bread",
        "init_scene_text": "1. A bowl containing two slices of toast or a pack of bread slices is placed to the left front of the robot, with a toaster positioned to the right front.\n2. The environmental setup changes every 20 data entries.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 167,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 167,
                    "end_frame": 274,
                    "action_text": "Insert the whole wheat toast held by the left arm into the empty slot behind white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 274,
                    "end_frame": 408,
                    "action_text": "Lift a piece of whole wheat toast from the basket with the left arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 408,
                    "end_frame": 539,
                    "action_text": "Place the whole wheat toast held in the left arm into the empty slot in front of white toaster.",
                    "skill": "Place"
                },
                {
                    "start_frame": 539,
                    "end_frame": 788,
                    "action_text": "Press the white toaster start button with both arms.",
                    "skill": "PressButton"
                }
            ],
            "key_frame": []
        }
    }
]