[
    {
        "episode_id": 656102,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
                    "end_frame": 428,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 864,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 864,
                    "end_frame": 1162,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1162,
                    "end_frame": 1716,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656119,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 381,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 381,
                    "end_frame": 810,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 810,
                    "end_frame": 1101,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1101,
                    "end_frame": 1490,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656186,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 383,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 824,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 824,
                    "end_frame": 1253,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1253,
                    "end_frame": 1725,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656276,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 317,
                    "end_frame": 597,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 597,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 877,
                    "end_frame": 1650,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656323,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 770,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 770,
                    "end_frame": 1124,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1124,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656412,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
                    "end_frame": 329,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 329,
                    "end_frame": 623,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 623,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 817,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656428,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
                    "end_frame": 602,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 602,
                    "end_frame": 1004,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1004,
                    "end_frame": 1315,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656597,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 305,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 305,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 657,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 944,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656607,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 278,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 582,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656631,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
                    "end_frame": 300,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 511,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 511,
                    "end_frame": 689,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 689,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656663,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 4,
                    "end_frame": 255,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 480,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 480,
                    "end_frame": 693,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 693,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656677,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 243,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 418,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656688,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 600,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656740,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656753,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656769,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 656809,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 656831,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 656843,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 656888,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 344,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 744,
                    "end_frame": 925,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1250,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656902,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
                    "end_frame": 323,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 323,
                    "end_frame": 587,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 587,
                    "end_frame": 791,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 791,
                    "end_frame": 1154,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656918,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 330,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 330,
                    "end_frame": 700,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 700,
                    "end_frame": 904,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 904,
                    "end_frame": 1305,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656936,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
                    "end_frame": 363,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 363,
                    "end_frame": 989,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1450,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1967,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 656978,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 330,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 330,
                    "end_frame": 592,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 592,
                    "end_frame": 863,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1314,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657020,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
                    "end_frame": 288,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 797,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 797,
                    "end_frame": 1119,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1578,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657053,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 351,
                    "end_frame": 730,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 730,
                    "end_frame": 1067,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1067,
                    "end_frame": 1401,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657073,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
                    "end_frame": 332,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 777,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 777,
                    "end_frame": 1004,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1004,
                    "end_frame": 1418,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657088,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
                    "end_frame": 304,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 304,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 654,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1141,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657110,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
                    "end_frame": 317,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 317,
                    "end_frame": 607,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 607,
                    "end_frame": 801,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 801,
                    "end_frame": 1204,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657122,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 268,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 268,
                    "end_frame": 619,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 619,
                    "end_frame": 791,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 791,
                    "end_frame": 1098,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657137,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
                    "end_frame": 262,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 262,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 622,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 870,
                    "end_frame": 1478,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657179,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 348,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 896,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1054,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657214,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 273,
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                    "skill": "Push"
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657259,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 444,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 896,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1110,
                    "end_frame": 1513,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657475,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
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                    "skill": "Push"
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                {
                    "start_frame": 808,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1066,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657491,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 484,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 908,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1142,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657510,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 426,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657544,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "start_frame": 1010,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657559,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 426,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 670,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 863,
                    "end_frame": 1177,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657613,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 317,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 317,
                    "end_frame": 589,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 589,
                    "end_frame": 836,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 836,
                    "end_frame": 1241,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657658,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 388,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 669,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1142,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657677,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 346,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 831,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1191,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657715,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 383,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 964,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1230,
                    "end_frame": 1586,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657733,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 435,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 824,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1035,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657748,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 397,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 760,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1113,
                    "end_frame": 1657,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657778,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 347,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 763,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1583,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657792,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 350,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 656,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 919,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657813,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 298,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 526,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 768,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657828,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 316,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 804,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1440,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": [
                {
                    "start": 804,
                    "end": 1440,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 657837,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 371,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 766,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 986,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657857,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1148,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657933,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 299,
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                {
                    "start_frame": 592,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1001,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657962,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 18,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 926,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 657988,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 11,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658009,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 658024,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 658035,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658048,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658061,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                },
                {
                    "start_frame": 265,
                    "end_frame": 485,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 485,
                    "end_frame": 731,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 731,
                    "end_frame": 1072,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658092,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 303,
                    "end_frame": 588,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 588,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1028,
                    "end_frame": 1643,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658104,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 240,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 446,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 780,
                    "end_frame": 1210,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658118,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 294,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 836,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1308,
                    "end_frame": 1860,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658136,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 349,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 828,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1173,
                    "end_frame": 1871,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658151,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 332,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 683,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 943,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658170,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 276,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 614,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 815,
                    "end_frame": 1270,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658201,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
                    "end_frame": 286,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 286,
                    "end_frame": 611,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 611,
                    "end_frame": 1025,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1025,
                    "end_frame": 1518,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": [
                {
                    "start": 611,
                    "end": 1025,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 658211,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 292,
                    "end_frame": 735,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 735,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 981,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658222,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 302,
                    "end_frame": 615,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 615,
                    "end_frame": 1013,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1013,
                    "end_frame": 1492,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658239,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
                    "end_frame": 333,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 333,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 565,
                    "end_frame": 838,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 838,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658256,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 306,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 628,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1060,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658290,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 305,
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658302,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 308,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658320,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 287,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1151,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658425,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1245,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658495,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 658512,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658528,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 658540,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 5,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658560,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
                    "end_frame": 280,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 280,
                    "end_frame": 580,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 580,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 772,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658599,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 312,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 585,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 779,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658641,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 372,
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                {
                    "start_frame": 605,
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                    "skill": "Insert"
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                {
                    "start_frame": 959,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": [
                {
                    "start": 605,
                    "end": 959,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 658655,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 306,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                {
                    "start_frame": 1174,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658701,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 758,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 949,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658718,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 299,
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                {
                    "start_frame": 584,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 809,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658740,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 325,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 677,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 904,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658752,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 310,
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                {
                    "start_frame": 597,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                {
                    "start_frame": 796,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658840,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 19,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658854,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                {
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                {
                    "start_frame": 842,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 658874,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 344,
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                {
                    "start_frame": 661,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 658892,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 18,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 658909,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
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    {
        "episode_id": 658923,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
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    {
        "episode_id": 658936,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 658951,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 658970,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 658984,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 659004,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 659032,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 24,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 576,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 576,
                    "end_frame": 777,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 777,
                    "end_frame": 1422,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659049,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 355,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 766,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 959,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659064,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 272,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 591,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1414,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659077,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 256,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 514,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 699,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659092,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 236,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 542,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 807,
                    "end_frame": 1310,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659106,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 216,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 494,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 714,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659117,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 245,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 505,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 700,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659135,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 220,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 220,
                    "end_frame": 636,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 636,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 805,
                    "end_frame": 1200,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659159,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 271,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 609,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 819,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659188,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 276,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 517,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 651,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659200,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 280,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 563,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 727,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659211,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 214,
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                {
                    "start_frame": 474,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 641,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659230,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659240,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 495,
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662479,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 354,
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                    "start_frame": 755,
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662582,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1022,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 662593,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1223,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 662616,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 3,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 662651,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                    "skill": "Insert"
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                {
                    "start_frame": 1131,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662677,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 8,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 356,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1112,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662713,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
                    "end_frame": 348,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 348,
                    "end_frame": 816,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 816,
                    "end_frame": 1194,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1194,
                    "end_frame": 1650,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662725,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 308,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 308,
                    "end_frame": 688,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 688,
                    "end_frame": 1052,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1393,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662739,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
                    "end_frame": 331,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 331,
                    "end_frame": 674,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 674,
                    "end_frame": 1062,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1784,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662762,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 372,
                    "end_frame": 798,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 798,
                    "end_frame": 1151,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1151,
                    "end_frame": 1714,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662788,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 375,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 791,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1231,
                    "end_frame": 1763,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662812,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 346,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 698,
                    "end_frame": 1046,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1408,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662820,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 383,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 759,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 759,
                    "end_frame": 1100,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1447,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662829,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
                    "end_frame": 370,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 370,
                    "end_frame": 753,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 753,
                    "end_frame": 1030,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1030,
                    "end_frame": 1366,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662839,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 354,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 766,
                    "end_frame": 1096,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1509,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662848,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 356,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 732,
                    "end_frame": 968,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 968,
                    "end_frame": 1359,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662858,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
                    "end_frame": 278,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 278,
                    "end_frame": 522,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 522,
                    "end_frame": 910,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1354,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662868,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 324,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 324,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 645,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1315,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662880,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 3,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 328,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 664,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 988,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662899,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 312,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 705,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1128,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662909,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 319,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 702,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1029,
                    "end_frame": 1426,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662931,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 481,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 957,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 662949,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 609,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662957,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 338,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "start_frame": 888,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662965,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662976,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 608,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 608,
                    "end_frame": 886,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 886,
                    "end_frame": 1283,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662985,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
                    "end_frame": 341,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 607,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1219,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663041,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 350,
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                    "skill": "Push"
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                {
                    "start_frame": 679,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 963,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663053,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 355,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 627,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 887,
                    "end_frame": 1182,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663074,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 314,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 605,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 895,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663090,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 3,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 324,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 715,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 962,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663101,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 338,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 612,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 901,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663123,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
                    "end_frame": 332,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 332,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 625,
                    "end_frame": 959,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 959,
                    "end_frame": 1252,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663133,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 312,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 660,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 962,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663145,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 289,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 547,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 774,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663157,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
                    "end_frame": 306,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 306,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 609,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 913,
                    "end_frame": 1290,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663176,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 274,
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                {
                    "start_frame": 538,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663194,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684619,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 684634,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 684648,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            "action_config": [
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                    "start_frame": 858,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 684656,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684664,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 684673,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684682,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684738,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 405,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 755,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 755,
                    "end_frame": 1098,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1098,
                    "end_frame": 1369,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684745,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 328,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 709,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1018,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684780,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 351,
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                {
                    "start_frame": 709,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1034,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684788,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 463,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 989,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1230,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684797,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 319,
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                {
                    "start_frame": 740,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1048,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684818,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 426,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 954,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1197,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684894,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 388,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 771,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1008,
                    "end_frame": 1234,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684903,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 361,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 851,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1099,
                    "end_frame": 1360,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684910,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 371,
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                {
                    "start_frame": 798,
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                    "skill": "Insert"
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                {
                    "start_frame": 1050,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684923,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 430,
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                {
                    "start_frame": 810,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1053,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684933,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 382,
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                    "skill": "Push"
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                {
                    "start_frame": 771,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1042,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684983,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 684998,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685005,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 685021,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 685035,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 685057,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685071,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685083,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            ],
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        }
    },
    {
        "episode_id": 685101,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 382,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 735,
                    "end_frame": 957,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 957,
                    "end_frame": 1166,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685111,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 343,
                    "end_frame": 681,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 681,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1174,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685152,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 403,
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                {
                    "start_frame": 758,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1143,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685190,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 300,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 606,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 874,
                    "end_frame": 1095,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685205,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 336,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 614,
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                    "skill": "Insert"
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                {
                    "start_frame": 794,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 685215,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 416,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 820,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1125,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 685230,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 381,
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                {
                    "start_frame": 810,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1063,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685240,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 436,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 819,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1108,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685277,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 388,
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                {
                    "start_frame": 829,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1102,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685290,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 517,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1087,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1427,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685303,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 321,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 695,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 913,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685316,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 429,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1086,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685322,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 685331,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
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    {
        "episode_id": 685345,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685360,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685373,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685406,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685430,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685442,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 685450,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 359,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 359,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 758,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1095,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685463,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 514,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 911,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1105,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685513,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 882,
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                    "skill": "Insert"
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                {
                    "start_frame": 1150,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685537,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 369,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 841,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685546,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 432,
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                {
                    "start_frame": 862,
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                    "skill": "Insert"
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                {
                    "start_frame": 1157,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685563,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 403,
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                {
                    "start_frame": 739,
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                    "skill": "Insert"
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                {
                    "start_frame": 1065,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685570,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 394,
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                {
                    "start_frame": 866,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1129,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685584,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 301,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 685,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685593,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 685602,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 685616,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 650,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685628,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 685636,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 685646,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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    {
        "episode_id": 685661,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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    {
        "episode_id": 685671,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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    {
        "episode_id": 685695,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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    {
        "episode_id": 685710,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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    {
        "episode_id": 685732,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 685747,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "start_frame": 518,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 825,
                    "end_frame": 1045,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1253,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685770,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 383,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 762,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 762,
                    "end_frame": 1105,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1284,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685785,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 358,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 358,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 791,
                    "end_frame": 1050,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1050,
                    "end_frame": 1300,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685813,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 456,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 871,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1135,
                    "end_frame": 1422,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685827,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 377,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 377,
                    "end_frame": 700,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 700,
                    "end_frame": 1090,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1322,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685842,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 403,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 780,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1011,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685874,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 326,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 731,
                    "end_frame": 937,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1220,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685932,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 333,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 333,
                    "end_frame": 701,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 701,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1283,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685980,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 342,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 703,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 964,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686035,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 403,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 861,
                    "end_frame": 1070,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1283,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686044,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 424,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 424,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 831,
                    "end_frame": 1109,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1109,
                    "end_frame": 1308,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686056,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 410,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 869,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1244,
                    "end_frame": 1432,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686077,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 397,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1098,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686183,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 420,
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                {
                    "start_frame": 802,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686231,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1023,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686261,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 686372,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686425,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686440,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655302,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655324,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 506,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 852,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 852,
                    "end_frame": 1284,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1284,
                    "end_frame": 1628,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655346,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 443,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 856,
                    "end_frame": 1215,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1215,
                    "end_frame": 1567,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655366,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 460,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 460,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 917,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1640,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655384,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 431,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 777,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1088,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655406,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 433,
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                {
                    "start_frame": 952,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1331,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655421,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 446,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 847,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1150,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655437,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 499,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 839,
                    "end_frame": 1187,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1505,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655453,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 401,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 401,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 786,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1449,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 655494,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 444,
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                {
                    "start_frame": 869,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1206,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659542,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 286,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 672,
                    "end_frame": 997,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 997,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659552,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 287,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 821,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1236,
                    "end_frame": 1781,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659559,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 298,
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                {
                    "start_frame": 758,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1095,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659570,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 660,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659576,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 659590,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 659627,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 659642,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 659655,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 659668,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 659679,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 353,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 779,
                    "end_frame": 1126,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1126,
                    "end_frame": 1477,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659690,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 326,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 326,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 697,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1020,
                    "end_frame": 1481,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659702,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 354,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 850,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1242,
                    "end_frame": 1567,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659716,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 318,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 318,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 770,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1146,
                    "end_frame": 1435,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659727,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 391,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 987,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1331,
                    "end_frame": 1636,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659746,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 355,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 966,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1243,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659767,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 386,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 820,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1175,
                    "end_frame": 1465,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659776,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 372,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 826,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1114,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659789,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 303,
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                {
                    "start_frame": 765,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1090,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659808,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 405,
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                {
                    "start_frame": 836,
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                    "skill": "Insert"
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                {
                    "start_frame": 1167,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659828,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 370,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 877,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1155,
                    "end_frame": 1436,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659890,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 345,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1127,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 659934,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 855,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660043,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 369,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660121,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660142,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 660189,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 660332,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 660496,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 660542,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660586,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 592,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 1114,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 1114,
                    "end_frame": 1365,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1365,
                    "end_frame": 1617,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660603,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 367,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1001,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1671,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660679,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 383,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 857,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1250,
                    "end_frame": 1569,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660703,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 346,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 759,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1273,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660765,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 354,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 908,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1170,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660777,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 486,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 486,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 939,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1277,
                    "end_frame": 1516,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660796,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 363,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1241,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1241,
                    "end_frame": 1458,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660809,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 392,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 392,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 813,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1369,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660875,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 379,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 783,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1083,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660902,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 323,
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                {
                    "start_frame": 771,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1066,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660942,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 403,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 849,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1482,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660957,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 463,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1452,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 660975,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661007,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661019,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 661030,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 661039,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 661050,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 661063,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661093,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 499,
                    "end_frame": 1225,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1225,
                    "end_frame": 1579,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1579,
                    "end_frame": 1939,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661210,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 352,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 352,
                    "end_frame": 753,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 753,
                    "end_frame": 1283,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1464,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661459,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 364,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 364,
                    "end_frame": 811,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 811,
                    "end_frame": 1195,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1195,
                    "end_frame": 1566,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661565,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 516,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 516,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 935,
                    "end_frame": 1253,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1253,
                    "end_frame": 1660,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661589,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1414,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1414,
                    "end_frame": 1680,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661620,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 502,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 502,
                    "end_frame": 978,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 978,
                    "end_frame": 1253,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1253,
                    "end_frame": 1553,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661680,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 258,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 258,
                    "end_frame": 1079,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1459,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1459,
                    "end_frame": 1659,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661700,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 419,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 419,
                    "end_frame": 1075,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1498,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1498,
                    "end_frame": 1780,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661726,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 456,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1341,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1592,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661751,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 348,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 348,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 868,
                    "end_frame": 1092,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1375,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661763,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 378,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 378,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 847,
                    "end_frame": 1149,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1149,
                    "end_frame": 1396,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661861,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 1018,
                    "end_frame": 1399,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1399,
                    "end_frame": 1740,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661875,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 425,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 900,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1339,
                    "end_frame": 1577,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661887,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 424,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 922,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661899,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 352,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 868,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1252,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661971,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 460,
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 661988,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1551,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662045,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662059,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1405,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662143,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 360,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "start_frame": 1247,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662176,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 412,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 412,
                    "end_frame": 908,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1282,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1571,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662191,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 306,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 972,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1387,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662211,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 243,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 860,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1180,
                    "end_frame": 1484,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662232,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 350,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 924,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1405,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": [
                {
                    "start": 1145,
                    "end": 1335,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 662263,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 359,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 845,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1073,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662271,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 371,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 939,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1247,
                    "end_frame": 1511,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 662303,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 341,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 871,
                    "end_frame": 1283,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1572,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665639,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 462,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1203,
                    "end_frame": 1588,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1588,
                    "end_frame": 1978,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665660,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 409,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1307,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665693,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 465,
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                {
                    "start_frame": 1195,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1497,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665726,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 465,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1088,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1545,
                    "end_frame": 1945,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665773,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665792,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 665870,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 666170,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 666329,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 666345,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 666394,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 666411,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 666446,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                },
                {
                    "start_frame": 396,
                    "end_frame": 856,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 856,
                    "end_frame": 1198,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1198,
                    "end_frame": 1462,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666583,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 368,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
                    "end_frame": 824,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 824,
                    "end_frame": 1154,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1154,
                    "end_frame": 1398,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666638,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 390,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 898,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 898,
                    "end_frame": 1297,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1297,
                    "end_frame": 1523,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666650,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 384,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 384,
                    "end_frame": 826,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1143,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1143,
                    "end_frame": 1467,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666660,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 366,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 366,
                    "end_frame": 911,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1206,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1206,
                    "end_frame": 1541,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666674,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 445,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 970,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 970,
                    "end_frame": 1233,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1233,
                    "end_frame": 1621,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666688,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 382,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1175,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1175,
                    "end_frame": 1510,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666697,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 344,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 344,
                    "end_frame": 787,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 787,
                    "end_frame": 1059,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1374,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666721,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 372,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 372,
                    "end_frame": 858,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 858,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1150,
                    "end_frame": 1550,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666742,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 386,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 934,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1153,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1153,
                    "end_frame": 1468,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666800,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 399,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 399,
                    "end_frame": 1108,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1540,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1540,
                    "end_frame": 1888,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666897,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 309,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 768,
                    "end_frame": 1125,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1483,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666914,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 450,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 932,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1259,
                    "end_frame": 1660,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666943,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 489,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1029,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1302,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666960,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 437,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 841,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1175,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 666986,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 516,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 975,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1285,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667012,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 476,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 849,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1201,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667030,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 435,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1256,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663214,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 245,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 503,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 778,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663223,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 275,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 496,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663231,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 270,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 270,
                    "end_frame": 525,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 525,
                    "end_frame": 811,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 811,
                    "end_frame": 1235,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663239,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 273,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 593,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 593,
                    "end_frame": 922,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 922,
                    "end_frame": 1342,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663249,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 298,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 298,
                    "end_frame": 537,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 537,
                    "end_frame": 779,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 779,
                    "end_frame": 1137,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663259,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 233,
                    "end_frame": 450,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 450,
                    "end_frame": 736,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 736,
                    "end_frame": 1171,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663267,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 243,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 490,
                    "end_frame": 772,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 772,
                    "end_frame": 1187,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663285,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 264,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 264,
                    "end_frame": 506,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 506,
                    "end_frame": 740,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 740,
                    "end_frame": 1242,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663295,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 258,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 258,
                    "end_frame": 496,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 496,
                    "end_frame": 720,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 720,
                    "end_frame": 1191,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663304,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 249,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 249,
                    "end_frame": 519,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 519,
                    "end_frame": 756,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 756,
                    "end_frame": 1192,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663309,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 260,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 260,
                    "end_frame": 539,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 539,
                    "end_frame": 859,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 859,
                    "end_frame": 1209,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663325,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 217,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 217,
                    "end_frame": 592,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 592,
                    "end_frame": 849,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 849,
                    "end_frame": 1251,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663331,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 240,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 240,
                    "end_frame": 493,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 493,
                    "end_frame": 784,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 784,
                    "end_frame": 1234,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663341,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 251,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 251,
                    "end_frame": 476,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 476,
                    "end_frame": 753,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 753,
                    "end_frame": 1165,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663423,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 3,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 263,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 478,
                    "end_frame": 669,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 669,
                    "end_frame": 1025,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663434,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 2,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 258,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 498,
                    "end_frame": 811,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 811,
                    "end_frame": 1113,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663446,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 286,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 572,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1027,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663455,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 248,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 519,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 784,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663462,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 276,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 517,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 712,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663469,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 272,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 554,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 824,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663492,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 531,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 816,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663503,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 297,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 623,
                    "end_frame": 983,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1328,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663526,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 5,
                    "end_frame": 298,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 298,
                    "end_frame": 586,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 586,
                    "end_frame": 845,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1150,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 663541,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 274,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 274,
                    "end_frame": 610,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 610,
                    "end_frame": 854,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 854,
                    "end_frame": 1178,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667242,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 394,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 394,
                    "end_frame": 995,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1404,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 1777,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667255,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 428,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 1014,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1402,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1402,
                    "end_frame": 1788,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667267,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 463,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 463,
                    "end_frame": 994,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1410,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1410,
                    "end_frame": 1783,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667306,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 484,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 910,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1368,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1368,
                    "end_frame": 1701,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667363,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 411,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 411,
                    "end_frame": 1099,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1099,
                    "end_frame": 1461,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1461,
                    "end_frame": 1720,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667376,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 456,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1641,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1641,
                    "end_frame": 1877,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667404,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 526,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 526,
                    "end_frame": 1103,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1103,
                    "end_frame": 1508,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1508,
                    "end_frame": 1939,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667427,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 392,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 392,
                    "end_frame": 987,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 987,
                    "end_frame": 1252,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1627,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667470,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 479,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 997,
                    "end_frame": 1473,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1473,
                    "end_frame": 1753,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667491,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 445,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 445,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 902,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1322,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667504,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 389,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 854,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1290,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667524,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 388,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 992,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1315,
                    "end_frame": 1580,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667543,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 474,
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                    "skill": "Push"
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                {
                    "start_frame": 1015,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1354,
                    "end_frame": 1591,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667611,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667810,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "start_frame": 1365,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667826,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667848,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667866,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 483,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 483,
                    "end_frame": 1174,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1174,
                    "end_frame": 1629,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1629,
                    "end_frame": 1903,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667884,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 527,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 527,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 1296,
                    "end_frame": 1687,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1687,
                    "end_frame": 1975,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667911,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 451,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 451,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 1164,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1462,
                    "end_frame": 1899,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667930,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 531,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1084,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1453,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667949,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 582,
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                {
                    "start_frame": 1081,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1362,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667957,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 364,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 834,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1226,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 667974,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 401,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 920,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1371,
                    "end_frame": 1696,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668007,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 406,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1116,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1514,
                    "end_frame": 1861,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668053,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 351,
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                {
                    "start_frame": 917,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1298,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668067,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 396,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 872,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1232,
                    "end_frame": 1555,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668084,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 453,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 940,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1403,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668183,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 480,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 989,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1501,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668235,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 8,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 446,
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                {
                    "start_frame": 905,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671439,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 902,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 671456,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 671495,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 671510,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 671527,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671536,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671551,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "end_frame": 986,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1315,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1315,
                    "end_frame": 1623,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671567,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 347,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 821,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 821,
                    "end_frame": 1211,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1211,
                    "end_frame": 1640,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671581,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 310,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 310,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 659,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1395,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671609,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 463,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1201,
                    "end_frame": 1711,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1711,
                    "end_frame": 2001,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671628,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 390,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 390,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1018,
                    "end_frame": 1352,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1352,
                    "end_frame": 1636,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671645,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 448,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 1073,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1374,
                    "end_frame": 1642,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671676,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 357,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 357,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 803,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1300,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671686,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 376,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 763,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1352,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671710,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 398,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 398,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 913,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1231,
                    "end_frame": 1577,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671733,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 374,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 877,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1121,
                    "end_frame": 1383,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671750,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 354,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 354,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 957,
                    "end_frame": 1255,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1255,
                    "end_frame": 1507,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671768,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 371,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 919,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1289,
                    "end_frame": 1573,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671788,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 977,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1272,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671804,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 314,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 843,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1168,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671837,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 366,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1311,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671862,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671875,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 671887,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671906,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671922,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671940,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 311,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 951,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1302,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1569,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671954,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 329,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 816,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1081,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672066,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 365,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 775,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1047,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672073,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 402,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 942,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1238,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672102,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 368,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 862,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1113,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672114,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 364,
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                {
                    "start_frame": 846,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1184,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672122,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 383,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 842,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1150,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672134,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 371,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 928,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1207,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672144,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 320,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1209,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672153,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 366,
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                {
                    "start_frame": 850,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1100,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672165,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 272,
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                {
                    "start_frame": 799,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 672177,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 672206,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 672220,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 672231,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 672244,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 672291,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 672315,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 672332,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 672342,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 292,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 721,
                    "end_frame": 1037,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1037,
                    "end_frame": 1244,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672353,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 322,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 322,
                    "end_frame": 739,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 739,
                    "end_frame": 999,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 999,
                    "end_frame": 1254,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672368,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 298,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 756,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1291,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672382,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 324,
                    "end_frame": 761,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 761,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1326,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672399,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 295,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 794,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1326,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672427,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 406,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 840,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1311,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672479,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 326,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 781,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1303,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672488,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 352,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 806,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1344,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672506,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 346,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 712,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1264,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672539,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 360,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 681,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 906,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672552,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 392,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 713,
                    "end_frame": 1000,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1000,
                    "end_frame": 1319,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672602,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 397,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 807,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1003,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672614,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 732,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672624,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672742,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1083,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672754,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "skill": "Insert"
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                    "start_frame": 1079,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 672779,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 672794,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672805,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672819,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672835,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 374,
                    "end_frame": 791,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 791,
                    "end_frame": 1052,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1313,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672853,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 384,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 384,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 790,
                    "end_frame": 1051,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1324,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672868,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 427,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 927,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1204,
                    "end_frame": 1444,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672914,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 336,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 818,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1058,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672941,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 250,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 682,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 912,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672952,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 331,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 743,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1186,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672978,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 429,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1261,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1261,
                    "end_frame": 1512,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672990,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 403,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 916,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1178,
                    "end_frame": 1424,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673014,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 902,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1210,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673029,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 448,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 944,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1272,
                    "end_frame": 1526,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673079,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 385,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 385,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 852,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1245,
                    "end_frame": 1513,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": [
                {
                    "start": 852,
                    "end": 1245,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 673095,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 342,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673190,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 950,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673205,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673214,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673224,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 673235,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673249,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673267,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673282,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 0,
                    "end_frame": 386,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 925,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1168,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1168,
                    "end_frame": 1386,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673314,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 431,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 431,
                    "end_frame": 964,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 964,
                    "end_frame": 1279,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1279,
                    "end_frame": 1495,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673324,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 346,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 346,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 836,
                    "end_frame": 1137,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1391,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673340,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 405,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 878,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1150,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1150,
                    "end_frame": 1464,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673353,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 419,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 419,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 865,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1111,
                    "end_frame": 1365,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673363,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 410,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 410,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 934,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1196,
                    "end_frame": 1444,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673383,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 900,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1120,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1434,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673398,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 421,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 421,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 899,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1362,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673410,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 355,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 355,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 754,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1016,
                    "end_frame": 1329,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673425,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 418,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 418,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 840,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1079,
                    "end_frame": 1351,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673432,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 301,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 747,
                    "end_frame": 1012,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1270,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673441,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 306,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 719,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 947,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673451,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 291,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 663,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 855,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673464,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 842,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673473,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 852,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673485,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 611,
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                    "skill": "Insert"
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                {
                    "start_frame": 812,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673498,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673521,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673531,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673547,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 300,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 662,
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                    "skill": "Insert"
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                {
                    "start_frame": 875,
                    "end_frame": 1190,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673558,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 313,
                    "end_frame": 747,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 747,
                    "end_frame": 944,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1180,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673572,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 294,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 698,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1270,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673584,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 316,
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                {
                    "start_frame": 863,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1074,
                    "end_frame": 1288,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673599,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 274,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 655,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 855,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673614,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 316,
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                {
                    "start_frame": 774,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1006,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673630,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 301,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 675,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 897,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673649,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 368,
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                {
                    "start_frame": 824,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1051,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673660,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 342,
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                {
                    "start_frame": 689,
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                    "skill": "Insert"
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                {
                    "start_frame": 942,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673672,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 333,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 785,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1012,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673691,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 361,
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                {
                    "start_frame": 803,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1059,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673705,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 359,
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                {
                    "start_frame": 741,
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                    "skill": "Insert"
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                {
                    "start_frame": 963,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673933,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 673945,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 673959,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 673974,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 673993,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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        }
    },
    {
        "episode_id": 674010,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 674021,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 674034,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 674046,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 709,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 709,
                    "end_frame": 912,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1164,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674058,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 324,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 749,
                    "end_frame": 995,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1219,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674068,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 270,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 620,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 848,
                    "end_frame": 1096,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674083,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 304,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 728,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 949,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674098,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 330,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 720,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 962,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674130,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 295,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 833,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1103,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674141,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 356,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 722,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 977,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674164,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 332,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 758,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 990,
                    "end_frame": 1229,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674183,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 330,
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                {
                    "start_frame": 716,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 949,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674202,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 280,
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                {
                    "start_frame": 645,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 889,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674227,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 287,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 737,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 940,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674258,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 277,
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674279,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 264,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 674290,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674299,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 674310,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 674316,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 674327,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 674336,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 674415,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "end_frame": 1246,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679620,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 503,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 503,
                    "end_frame": 1027,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1254,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1510,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679654,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 374,
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                {
                    "start_frame": 829,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1064,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679681,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 375,
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                {
                    "start_frame": 808,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1036,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679702,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 429,
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                {
                    "start_frame": 990,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1132,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679715,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 386,
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                {
                    "start_frame": 866,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1206,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679759,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 338,
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                {
                    "start_frame": 812,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1080,
                    "end_frame": 1296,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679783,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 409,
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                {
                    "start_frame": 923,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1209,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679812,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 358,
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                {
                    "start_frame": 862,
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                {
                    "start_frame": 1190,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683743,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 392,
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                {
                    "start_frame": 872,
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                    "skill": "Insert"
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                {
                    "start_frame": 1128,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683883,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 396,
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                {
                    "start_frame": 833,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683897,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 827,
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                    "skill": "Insert"
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                {
                    "start_frame": 1205,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683937,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683951,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 683982,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 683992,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684003,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684013,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684022,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684033,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684053,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 401,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 401,
                    "end_frame": 735,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 735,
                    "end_frame": 966,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 966,
                    "end_frame": 1224,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684063,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 430,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 430,
                    "end_frame": 938,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 938,
                    "end_frame": 1278,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1278,
                    "end_frame": 1544,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684083,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 327,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 700,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1302,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684093,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 336,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 670,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1095,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684110,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 371,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 721,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1095,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684118,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 441,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 802,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1119,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684129,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 415,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 757,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1021,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684138,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 357,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 693,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1001,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684150,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 435,
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                {
                    "start_frame": 941,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1290,
                    "end_frame": 1560,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684174,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 334,
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                {
                    "start_frame": 763,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1072,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684190,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 326,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 719,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 975,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684201,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 756,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684216,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1065,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684235,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684250,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684267,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684283,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684299,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684310,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684323,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 928,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684334,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 362,
                    "end_frame": 735,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 735,
                    "end_frame": 1005,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1187,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684347,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 360,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 802,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1044,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684362,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 391,
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                {
                    "start_frame": 775,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1089,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684371,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 376,
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                {
                    "start_frame": 861,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1127,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684381,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 313,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 701,
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                {
                    "start_frame": 928,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684399,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 373,
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                {
                    "start_frame": 756,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1048,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684408,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 486,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 875,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1152,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684419,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 340,
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                {
                    "start_frame": 682,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 997,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684449,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 360,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1074,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684463,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 411,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1074,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684473,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 355,
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                {
                    "start_frame": 658,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 684493,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 684503,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684515,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684529,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 684538,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684569,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 684582,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 687341,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 687358,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 551,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 551,
                    "end_frame": 940,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 940,
                    "end_frame": 1092,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1287,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687584,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 559,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1022,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1203,
                    "end_frame": 1491,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687626,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 536,
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                {
                    "start_frame": 830,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 973,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687637,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 455,
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                {
                    "start_frame": 853,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1009,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687750,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 575,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 923,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1070,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687761,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 464,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 863,
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                    "skill": "Insert"
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                {
                    "start_frame": 985,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687777,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 412,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 779,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 902,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687890,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 553,
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                {
                    "start_frame": 919,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1147,
                    "end_frame": 1357,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687898,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 522,
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                {
                    "start_frame": 889,
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                    "skill": "Insert"
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                {
                    "start_frame": 1035,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687922,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 559,
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                {
                    "start_frame": 862,
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                    "skill": "Insert"
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                {
                    "start_frame": 1012,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687931,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 388,
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                {
                    "start_frame": 958,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1140,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687955,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 687990,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 688039,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 688066,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 688073,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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        }
    },
    {
        "episode_id": 688084,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 688093,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 688108,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 688150,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 997,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688203,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 396,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 772,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 946,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688220,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 371,
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                {
                    "start_frame": 999,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1124,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688235,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 436,
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                {
                    "start_frame": 731,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 881,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688254,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 811,
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                {
                    "start_frame": 1069,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 688337,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 378,
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                {
                    "start_frame": 711,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 688395,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
                    "start_frame": 660,
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                    "skill": "Insert"
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                {
                    "start_frame": 883,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 688402,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 386,
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                {
                    "start_frame": 694,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 882,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688415,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 431,
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                {
                    "start_frame": 774,
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                {
                    "start_frame": 950,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 688423,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1196,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688437,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688448,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 688462,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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            ],
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        }
    },
    {
        "episode_id": 688498,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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        }
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    {
        "episode_id": 688617,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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        }
    },
    {
        "episode_id": 688635,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 688651,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 688675,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 688704,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 688725,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 688747,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 391,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 391,
                    "end_frame": 633,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 633,
                    "end_frame": 751,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 751,
                    "end_frame": 951,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688769,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 511,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 511,
                    "end_frame": 724,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 724,
                    "end_frame": 883,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 883,
                    "end_frame": 1055,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688789,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 489,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 752,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1046,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688850,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 452,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 452,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 669,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 757,
                    "end_frame": 928,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688928,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 442,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 731,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 906,
                    "end_frame": 1080,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688957,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 373,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 769,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 959,
                    "end_frame": 1210,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688971,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 444,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 818,
                    "end_frame": 949,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 949,
                    "end_frame": 1103,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688983,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 403,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 756,
                    "end_frame": 984,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1131,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688992,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 398,
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                {
                    "start_frame": 703,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 902,
                    "end_frame": 1123,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689015,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 434,
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                {
                    "start_frame": 796,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 939,
                    "end_frame": 1204,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689028,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 349,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 349,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 749,
                    "end_frame": 864,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 864,
                    "end_frame": 1000,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689038,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 389,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 696,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 831,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689098,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 374,
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                {
                    "start_frame": 717,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 778,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689140,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 450,
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                {
                    "start_frame": 840,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 953,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689155,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689165,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 0,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 689177,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 689188,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 689233,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689249,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "start_frame": 910,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689291,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 340,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                },
                {
                    "start_frame": 340,
                    "end_frame": 735,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 735,
                    "end_frame": 974,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 974,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689472,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 279,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 536,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 665,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689487,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 249,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 477,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 583,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677751,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 273,
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                {
                    "start_frame": 665,
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                    "skill": "Insert"
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                {
                    "start_frame": 920,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677759,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 282,
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                {
                    "start_frame": 706,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 677768,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 318,
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                {
                    "start_frame": 861,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1176,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677777,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 416,
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                {
                    "start_frame": 997,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1416,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677794,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 346,
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                {
                    "start_frame": 735,
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                {
                    "start_frame": 976,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 677828,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 301,
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                {
                    "start_frame": 810,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1042,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 677844,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 283,
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                {
                    "start_frame": 680,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 992,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677856,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 677867,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 677973,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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            ],
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        }
    },
    {
        "episode_id": 677988,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 678009,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 678027,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678042,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678054,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 678069,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            ],
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        }
    },
    {
        "episode_id": 678078,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                {
                    "start_frame": 0,
                    "end_frame": 249,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 249,
                    "end_frame": 692,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 692,
                    "end_frame": 941,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1275,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678097,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 302,
                    "end_frame": 703,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 703,
                    "end_frame": 991,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1280,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678114,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 323,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 761,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1352,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678122,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 341,
                    "end_frame": 789,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 789,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1026,
                    "end_frame": 1313,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678131,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 290,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 651,
                    "end_frame": 938,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1219,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678149,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 287,
                    "end_frame": 695,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 695,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 922,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678165,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 277,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 851,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1073,
                    "end_frame": 1347,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678179,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 283,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 838,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1085,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678203,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 311,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 673,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 939,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678229,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 325,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 782,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1005,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678245,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 336,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 999,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1244,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678259,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 271,
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                {
                    "start_frame": 715,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 999,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678274,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 354,
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                {
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1100,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678282,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 335,
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678299,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678317,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678329,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678340,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678354,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678367,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "end_frame": 1131,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678379,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 296,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 296,
                    "end_frame": 676,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 676,
                    "end_frame": 902,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1091,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678393,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 286,
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                {
                    "start_frame": 691,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 892,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678407,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 286,
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                {
                    "start_frame": 752,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 973,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678416,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 307,
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                {
                    "start_frame": 786,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1037,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678435,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 250,
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                {
                    "start_frame": 600,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 833,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678444,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 404,
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                {
                    "start_frame": 675,
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                {
                    "start_frame": 907,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 678467,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 288,
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                {
                    "start_frame": 681,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 967,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678480,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 265,
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                {
                    "start_frame": 617,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 678510,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 280,
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                {
                    "start_frame": 639,
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                    "skill": "Insert"
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                {
                    "start_frame": 861,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678524,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 318,
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                {
                    "start_frame": 717,
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                    "skill": "Insert"
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                {
                    "start_frame": 960,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 678543,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 283,
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                {
                    "start_frame": 577,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678552,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 678565,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
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    {
        "episode_id": 678574,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 678583,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678598,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 678621,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 678634,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678702,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 678709,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 629,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 629,
                    "end_frame": 909,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1181,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678722,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 329,
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                {
                    "start_frame": 746,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 967,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678734,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 345,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 805,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1054,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678749,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 298,
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                {
                    "start_frame": 651,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 917,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678758,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 325,
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                {
                    "start_frame": 713,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 909,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678768,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 282,
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                {
                    "start_frame": 650,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 860,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678782,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 321,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 640,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 836,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678791,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 296,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 679,
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                    "skill": "Insert"
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                {
                    "start_frame": 905,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678807,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 296,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 979,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678819,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 295,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 730,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 989,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678927,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 256,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 627,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 843,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678936,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 308,
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                {
                    "start_frame": 698,
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678943,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 678952,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 37,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 678963,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 678971,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678979,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 678989,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 679240,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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        }
    },
    {
        "episode_id": 679254,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "end_frame": 1113,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679280,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 285,
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                {
                    "start_frame": 798,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1035,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679295,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 274,
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                {
                    "start_frame": 707,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 941,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679313,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 332,
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                {
                    "start_frame": 740,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 997,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679324,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 309,
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                {
                    "start_frame": 830,
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                {
                    "start_frame": 1162,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 679438,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 272,
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                {
                    "start_frame": 617,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 679446,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "start_frame": 264,
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                {
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                {
                    "start_frame": 851,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679453,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 297,
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                {
                    "start_frame": 656,
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                    "skill": "Insert"
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                {
                    "start_frame": 871,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679465,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 304,
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                {
                    "start_frame": 700,
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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        }
    },
    {
        "episode_id": 682030,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 388,
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 682059,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 405,
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                {
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                    "skill": "Insert"
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
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    },
    {
        "episode_id": 682073,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
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        }
    },
    {
        "episode_id": 682086,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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        }
    },
    {
        "episode_id": 682145,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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        }
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    {
        "episode_id": 682177,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 682210,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 682240,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 682257,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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    {
        "episode_id": 682290,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
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    {
        "episode_id": 682306,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
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        }
    },
    {
        "episode_id": 682329,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
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                    "start_frame": 0,
                    "end_frame": 431,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 431,
                    "end_frame": 739,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 739,
                    "end_frame": 920,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1224,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682341,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 353,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 761,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 761,
                    "end_frame": 916,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1171,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682355,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 389,
                    "end_frame": 826,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 826,
                    "end_frame": 989,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1226,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682369,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 302,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 717,
                    "end_frame": 911,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1137,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682393,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 376,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 749,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1198,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682476,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 429,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 429,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 1052,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1492,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682489,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 467,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 467,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 737,
                    "end_frame": 934,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1256,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682507,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 423,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 423,
                    "end_frame": 865,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 865,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1088,
                    "end_frame": 1385,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682854,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 431,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 431,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
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                {
                    "start_frame": 855,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1426,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682881,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 407,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 407,
                    "end_frame": 915,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1101,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1101,
                    "end_frame": 1355,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682898,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 483,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 483,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1047,
                    "end_frame": 1223,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1507,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682965,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 410,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 838,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1001,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683029,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 430,
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                {
                    "start_frame": 897,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1049,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683047,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 446,
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                {
                    "start_frame": 988,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1156,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683144,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 401,
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                {
                    "start_frame": 958,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
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                {
                    "start_frame": 1115,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683191,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 1213,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683211,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683231,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "skill": "Insert"
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                {
                    "start_frame": 860,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683244,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "skill": "Insert"
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                    "start_frame": 1040,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683262,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                    "start_frame": 995,
                    "end_frame": 1214,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683346,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 332,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 799,
                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 799,
                    "end_frame": 1007,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1298,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683377,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 312,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 879,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1023,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683421,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 313,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 672,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 836,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683495,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 379,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 887,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1049,
                    "end_frame": 1320,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683524,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 349,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                },
                {
                    "start_frame": 773,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 909,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686944,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
                    "start_frame": 369,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 795,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1160,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692424,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 430,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 430,
                    "end_frame": 1032,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1217,
                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1217,
                    "end_frame": 1455,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692442,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 498,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 498,
                    "end_frame": 938,
                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 938,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1087,
                    "end_frame": 1291,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692457,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 423,
                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 423,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
                    "skill": "Push"
                },
                {
                    "start_frame": 1003,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1371,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692474,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 424,
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                    "action_text": "Push aside the books on the shelf with the left arm.",
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                {
                    "start_frame": 887,
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                    "action_text": "Insert the book held in the right arm into the gap cleared by the left arm on the shelf.",
                    "skill": "Insert"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1290,
                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692482,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
                    "skill": "Pick"
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                {
                    "start_frame": 465,
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                {
                    "start_frame": 909,
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                    "skill": "Insert"
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                {
                    "start_frame": 1075,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692489,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                {
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                {
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                    "skill": "Insert"
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692496,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692502,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                {
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                {
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692509,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Lift the horizontally placed book on the shelf with the right arm.",
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692530,
        "task_id": 384,
        "task_name": "Insert a book into the bookshelf",
        "init_scene_text": "The robot stands in front of the bookshelf, where there are gaps (quite tight) between each book in the row waiting to be inserted. On another level of the bookshelf, the books to be inserted are lying flat.\nThe bookshelf has two operable levels, and the level for picking up and inserting books is changed every 50 operations.",
        "label_info": {
            "action_config": [
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                    "start_frame": 0,
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                    "action_text": "Push the misplaced book on the shelf to the end with your right arm.",
                    "skill": "Push"
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            ],
            "key_frame": []
        }
    }
]